CN107843644A - A kind of vehicle body solder joint automatic checkout system and its control method - Google Patents
A kind of vehicle body solder joint automatic checkout system and its control method Download PDFInfo
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- CN107843644A CN107843644A CN201711283497.2A CN201711283497A CN107843644A CN 107843644 A CN107843644 A CN 107843644A CN 201711283497 A CN201711283497 A CN 201711283497A CN 107843644 A CN107843644 A CN 107843644A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/90—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0025—Measuring of vehicle parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/90—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
- G01N27/9006—Details, e.g. in the structure or functioning of sensors
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Abstract
The invention discloses a kind of vehicle body solder joint automatic checkout system and its control method, including controller and robotic arm, vision system and probe apparatus are clamped with the robotic arm；The vision system includes camera, lighting source and image acquisition and processing device, and the probe apparatus includes probe and its flexible clamping mechanism；The probe apparatus face vehicle body solder joint, the first angle is formed between the camera and probe apparatus, the second angle is formed between the lighting source and camera, the camera is connected with image acquisition and processing device obtains vehicle body bond pad locations, and the controller is corrected according to vehicle body bond pad locations to the probe positions on robotic arm.The solution that the present invention forms robot vision guiding by lighting source with camera greatly shortens the time of each solder joint of test, improve the accuracy rate of solder joint identification, organization volume is substantially reduced, and the process that camera is needed when taking pictures perpendicular to workpiece can be saved.
Description
Technical field
The present invention relates to a kind of Auto-body manufacturing detecting system and method, more particularly to a kind of vehicle body solder joint automatic checkout system
And its control method.
Background technology
Punching press, be welded, application, general assembly be Auto-body manufacturing four big techniques, wherein rigidity and peace of the welding and assembling technicses to vehicle body
Full performance, bearing capacity and comfortableness play decisive role.At present, spot-welding technology is generally used in automobile production.Spot welding is
A kind of high speed, economic connection method, are the main connected modes between a large amount of metallic plates of vehicle body.However, the original of welded blank
Beginning parameter such as thickness of slab, surface cleanness, whether distort, change of technological parameter, work condition state etc. all can shadow in welding process
Ring the quality of quality of welding spot.Therefore it is to ensure body quality in automobile production, improve automobile that detection is carried out to vehicle body quality of welding spot
One important step of performance.
At present, quality of welding spot detection method mainly includes two kinds of damage detection and Non-Destructive Testing.It is a kind of machine to damage detection
Tool destructive test method is, it is necessary to which butt welding point carries out mechanical destruction.Defects detection is carried out according to the material characteristics of the plane of disruption.This
Kind detection can only take selective examination formula to detect, and time-consuming and has destructiveness for artificial detection.Non-Destructive Testing is mainly ultrasonic wave inspection
Survey.Ultrasonic wave has very strong penetration power, and back wave can be all produced at upper and lower interface edge, the spy of the waveform by comparing reflection
Point is analyzed to judge whether solder joint is defective and determines that property, position and the size of defect detect to realize.But due to ultrasound detection
Need to coat couplant.The coating of couplant and clearing process are complicated, are difficult to realize robotic gripper probe and carry out automatic detection.
Because vehicle body solder joint is numerous, usual solder joint number is between 2000-4000.And existing main flow detection mode, too
Dependent on the subjective judgement of people, confidence level is not high, and all rests on artificial or offline inspection state mostly.This lags far behind
The rhythm of automobile production.Even if during using automatic detection scheme, some site errors of the vehicle body solder joint federation of each batch.Very
Automatic detection is implemented in the difficult accurate position for confirming solder joint.The low vehicle body quality of welding spot detection mode of efficiency has constrained
The development of automobile industry, therefore the high-speed automated detection device of vehicle body quality of welding spot is researched and developed, realize that vehicle body quality of welding spot is automatic
The detection on tinuous production or the offline detection on independent station be in automobile production field one it is very urgent
Task.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of vehicle body solder joint automatic checkout system and its control method, energy
It is enough accurately to draw solder joint central point, and the welding quality of the solder joint is detected, greatly reduce the detection time of each solder joint.
The present invention is to provide a kind of vehicle body solder joint automatic detection system to solve the technical scheme that above-mentioned technical problem uses
System, including controller and robotic arm, wherein, it is clamped with vision system and probe apparatus on the robotic arm；The vision
System includes camera, lighting source and image acquisition and processing device, and the probe apparatus includes probe and its flexible clamping mechanism；
The probe apparatus face vehicle body solder joint, forms the first angle, the number of the lighting source between the camera and probe apparatus
Mesh is multiple, and the multiple lighting source is distributed along around camera, and the second folder is formed between the lighting source and camera
Angle, the camera and described image acquisition processing device, which are connected, obtains vehicle body bond pad locations, and the controller and described image are adopted
Collection processing unit is connected by network, and the controller carries out school according to vehicle body bond pad locations to the probe positions on robotic arm
Just.
Above-mentioned vehicle body solder joint automatic checkout system, wherein, the robotic arm is provided with aluminium profiles frame bearing, the aluminium profiles
Frame bearing is arranged on robotic arm by ring flange, and the probe apparatus is fixed on the first L-type support bar, the first L
Type support bar is perpendicular with aluminium profiles frame bearing and locking is connected；The camera is fixed on the second L-type support bar, the 2nd L
Type support bar is connected by Wedge-shape connector with aluminium profiles frame bearing.
Above-mentioned vehicle body solder joint automatic checkout system, wherein, the scope of first angle is 30 °~60 °, described second
The scope of angle is 15 °~60 °.
Above-mentioned vehicle body solder joint automatic checkout system, wherein, the lighting source is LED illumination light source, the multiple LED
Lighting source around the distribution of the radians such as camera excircle and carries out polishing by speculum, forms vision system.
Above-mentioned vehicle body solder joint automatic checkout system, wherein, the probe apparatus includes eddy current probe and cylinder, the whirlpool
Stream probe is connected by rotatable mounting seat with connector is swung, and the cylinder is fixed on the top of the shelf, and the cylinder passes through pneumatic
Slide unit is connected with the rotatable mounting seat for swinging connector, and the swing connector is connected with one end of hanger bracket, the suspension
The other end of frame is fixed on the top of the shelf by extension spring.
Above-mentioned vehicle body solder joint automatic checkout system, wherein, the eddy current probe is by multiple linear under magnet exciting coil and its
The test coil of eddy current composition of arrangement.
The present invention also provides a kind of control method of above-mentioned vehicle body solder joint automatic checkout system to solve above-mentioned technical problem,
Wherein, comprise the following steps：S1：Probe apparatus on mechanical arm is directed at vehicle body bond pad locations；S2：Vehicle body is welded using camera
Point position is taken pictures, and obtains the image with certain angle of inclination；S3：Then schemed by image acquisition and processing device to tilting
As being corrected by orthographic projection shooting angle, actual measurement weld locations are obtained, and calculate actual measurement bond pad locations and original setting
The offset of point；S4：The controller is corrected according to vehicle body bond pad locations offset to the probe positions on robotic arm；
S5：Control probe apparatus detects to vehicle body quality of welding spot.
Above-mentioned vehicle body solder joint automatic detection control method, wherein, the step S1 is distributed in using four robotic arms
Vehicle body surrounding, the vehicle body of each robotic arm covering 1/4；Using controller according to vehicle body bond pad locations to the probe on mechanical arm
Corrected position.
Above-mentioned vehicle body solder joint automatic detection control method, wherein, in the step S2, when solder joint and background be not obvious
During gray scale difference, polishing is lighted by software control successively from different directions with the angled multiple lighting sources of camera,
The image containing different shade directions is obtained, by the way that the imaging importing in different shade directions is calculated with concavo-convex change
The central point of figure is the center of solder joint.
Above-mentioned vehicle body solder joint automatic detection control method, wherein, in addition to default a series of images identification parameter storehouse, often
When being detected after secondary vehicle body of newly arriving to same position weld point image, first solder joint center identification is carried out with suboptimum parameter；When can not
When identifying solder joint center, parameter is identified in auto recycling parameter library, until identify solder joint center, and by the parameter
As new optimized parameter.
Above-mentioned vehicle body solder joint automatic detection control method, wherein, the probe apparatus is telescopic x, y, z omniranges
Compliant mechanism, the flexible of probe is controlled using Mobile Slide, pops one's head in when camera is taken pictures and retracts upwards；Examined after positioning
Probe is stretched out during survey.
Above-mentioned vehicle body solder joint automatic detection control method, wherein, when solder joint is in Near The Critical Point in the step S5,
One section of maximum waveform of difference is then taken separated from Full wave shape as judgement position.Present invention contrast prior art has following
Beneficial effect：Vehicle body solder joint automatic checkout system and its control method provided by the invention, are formed by lighting source and camera
The solution of robot vision guiding greatly shortens the time of each solder joint of test, and the light source design of certain angle improves weldering
The accuracy rate of point identification, angled camera and probe, which set to save, needs camera perpendicular to workpiece when taking pictures
Process.In addition, flexible probe clamping device can make probe contacts face vertical measured surface all the time；The light of multimirror simultaneously
Road design greatly reduces equipment volume.
Brief description of the drawings
Fig. 1 is vehicle body solder joint automatic checkout system configuration diagram of the present invention；
Fig. 2 is camera on vehicle body solder joint automatic checkout system robotic arm of the present invention, probe apparatus and lighting source distribution
Schematic diagram；
Fig. 3 is the light path polishing schematic diagram that the present invention is formed by LED illumination light source and speculum；
Fig. 4 is the probe apparatus structural representation that the present invention has telescopic oscillating function；
Fig. 5 is coil distribution and the solder joint detects schematic diagram of eddy current probe in Fig. 4；
Fig. 6 is difference maximum place of the invention of being chosen on Full wave shape as judgement position view；
Fig. 7 is vehicle body bond pad locations of the present invention correction schematic diagram.
In figure：
The probe apparatus of 1 vehicle body, 2 camera 3
The robotic arm switch board of 4 lighting source, 5 robotic arm 6
The man-machine interaction computer of 7 probe control box 8PLC controllers 9
The eddy current probe cable of 10 image acquisition and processing device, 11 camera cable 12
The interchanger of 13 robot cable, 14 netting twine 15
The L-type support bar of 16 aluminium profiles frame bearing, 17 ring flange 18 first
The speculum of 20 Wedge-shape connector 21 on 19 second L-type support bars
The Pneumatic slid platform of 301 cylinder, 302 shelf 303
The eddy current probe of 304 extension spring, 305 hanger bracket 306
307, which swing link 3061, is vortexed the excitation magnetic line of force of magnet exciting coil 3062
The solder joint nugget region of 3063 test coil of eddy current 3064
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is vehicle body solder joint automatic checkout system configuration diagram of the present invention.
Fig. 1, vehicle body solder joint automatic checkout system provided by the invention, including controller and robotic arm 5 are referred to, its
In, PLC 8 is can be selected in controller, and camera 2 and probe 3, the camera 2 and probe 3 are clamped with the robotic arm 5
Between form the first angle, multiple lighting sources 4 are distributed with around the camera 2, between the lighting source 4 and camera 2
The second angle is formed, the camera 2 is connected with image acquisition and processing device 10 obtains vehicle body bond pad locations, the PLC 8
It is connected with image acquisition and processing device 10 by network, the PLC 8 is according to vehicle body bond pad locations on robotic arm 5
Probe positions be corrected.The scope of first angle is 30 °~60 °, and the scope of the second angle is 15 °~60 °, is considered
To the size of installing space, the second angle is preferably 20 °.The probe 3 is eddy current probe, and PLC 8 can also change work into
Control machine or single-chip microcomputer.
Fig. 2 is camera on vehicle body solder joint automatic checkout system robotic arm of the present invention, probe apparatus and lighting source distribution
Schematic diagram.
Refer to Fig. 2, vehicle body solder joint automatic checkout system provided by the invention, wherein, the robotic arm 5 is provided with aluminium
Type frame bearing 16, the aluminium profiles frame bearing 16 are arranged on robotic arm 5 by ring flange 17, and the probe 3 is fixed on the first L
On type support bar 18, the first L-type support bar 18 is perpendicular with aluminium profiles frame bearing 16 and locking is connected；The camera 2 is fixed
On the second L-type support bar 19, the second L-type support bar 19 is connected by Wedge-shape connector 20 with aluminium profiles frame bearing 16.
Continuing with referring to Fig. 3, lighting source of the invention is LED illumination light source, and the multiple LED illumination light source surrounds phase
The radians such as machine excircle are distributed and carry out polishing by speculum 21.
As shown in figure 4, the probe apparatus includes eddy current probe 306 and cylinder 301, the eddy current probe 306 is by can
Rotary mounting seat is connected with connector 307 is swung, and the cylinder 301 is fixed in camera mechanism, the cylinder 301 passes through gas
Dynamic slide unit 303 is connected with the rotatable mounting seat for swinging connector 307, described one end for swinging connector 307 and hanger bracket 305
It is connected, the other end of the hanger bracket 305 is fixed on shelf 302 by extension spring 304；The swing connector 307 can it is front and rear,
Swing, realize x, y, the flexible connection mechanical structure on z three degree of freedoms direction.
As shown in figure 5, the eddy current probe 306 of the present invention its lower vortex inspection by magnet exciting coil 3061 and multiple linear arrays
Test coil 3063 forms, and test coil of eddy current 3063 is evenly arranged in the lower section of vortex magnet exciting coil 3061., by detecting excitation magnetic
The line of force 3062 measures solder joint nugget region 3064.
Shown in Fig. 6, the excitation curve of magnet exciting coil 3061 and the self-induction of independent each detection coil 3063 are represented respectively
The recording curve of electromotive force.Each coil records 148 sampled points.The encouraging for magnet exciting coil 3061 of preceding 10 sampled points record
Magnetic signal.Remaining 138 sampled points record for the self induction electromotive force signal of detection coil 3063.Generally carrying out spot-welded
The crystal image organization of nugget is changed afterwards.So curve of material of its self induction electromotive force curve with rosin joint and without welding
It is different.These detection coils being arranged in order are compared by scanning.The scope and size of nugget can be drawn.But use sometimes
It is relatively difficult that the curve of an independent coil gamut detects welding spot size as determinating area.The present invention can be according to difference
Material has the characteristic of different sensitizing ranges after welding, is taken separated from the most obvious region conduct of one section of characteristic variations therein
Determinating area.And contrasted after being amplified to this segment signal curve.Such as the present invention generally chooses at 118 points to 128 points
Determinating area of the curve as zinc-plated sheet material solder joint.The present invention can select according to the difference of material property in gamut curve
Leading portion is taken, stage casing, back segment or four corner are as determinating area.
Fig. 7 show the interface of vision system.Show the inclined of actual solder joint that vision system detects and default solder joint
Shifting value.This deviant is sent to robotic arm, and guided robot clamping probe carries out solder joint Welding quality test.
Therefore vehicle body solder joint automatic checkout system provided by the invention is mainly by robot system, visual recognition line
System, eddy detection system and control system composition.The main composition and function of each several part are as follows：
1. robot system：
Robot system includes robotic arm 5 and robotic arm switch board 6.Robot engineering teacher is according to reality before work
The solder joint that client needs to measure is to robotic programming and teaching.Make robot motion cover client measurement in need solder joint
Position.
2. visual identifying system：
When on-line checking or offline inspection, the bond pad locations of each new vehicle body bond pad locations and robot teaching are total
Have some deviations.This just needs vision system to carry out from new definition, calculating deviation and guided robot to physical location.Such as figure
Shown in 1 and Fig. 2, it is same that visual identifying system includes an industrial camera, several light sources angled with camera, visual mechanisms
The computer of the angled mechanical clamp mechanism of detection probe and an operation visual identity software.
Taken pictures under normal mode by vision system butt welding point and carry out the identification of solder joint.If solder joint and background have significantly
Gray scale difference.System can be easy to calculate solder joint central point and provide deviant.
When solder joint and background do not have obvious gray scale difference.By software control and the angled light source of camera successively
Light to obtain the image containing different shade directions.By the way that the imaging importing in different shade directions is calculated without obvious
Grey scale change but the center for having the concavo-convex solder joint changed.The light path of multimirror and telescopic probe designs make survey simultaneously
Amount system bulk is substantially reduced.
Vision measurement is camera perpendicular to measured surface under normal circumstances.Mechanism turns to probe vertical after the completion of taking pictures
Measured in workpiece surface.In order to reduce pitch time, save mechanical switch actuation time.The present invention is carried out by software
The angle correct of image, position detection is directly carried out after the completion of can so taking pictures.
3. the eddy detection system of linear array coil：
Eddy current probe of the eddy detection system including linear array test coil of eddy current, EDDY CURRENT control box, whirlpool
Flow the computer of inspection software operation and storage result.Application of the EDDY CURRENT in solder joint welding quality is examined due to different with ultrasound
Need to coat and remove couplant during survey.Greatly simplify operational sequence.Robotic gripper probe can be achieved to replace manually entering
Row measurement.Taken pictures to not block, the present invention moves the flexible of controlled vortex flow measuring mechanism with Pneumatic slid platform.When vision is taken pictures
EDDY CURRENT mechanism retracts upwards, stretches out probe when being detected after positioning.
Present invention employs the Spot size that linearly aligned test coil of eddy current method can measure solder joint.It is simultaneously guarantor
Card probe can design the flexible connection machinery knot on 3 free degree directions perpendicular to workpiece surface in real time in detection process
Structure.When quality of welding spot Near The Critical Point by Full wave shape scope be difficult judge it is fine or not when, can be taken separated from Full wave shape
The maximum place of difference is as judgement position.Such as using leading portion waveform, rear end waveform or whole waveforms, only select as shown in Figure 6
Take solder joint determinating area of the region between 118 points to 128 points as zinc-plated sheet material.
4.PLC control systems
PLC control system includes SIEMENS PLC, related electrical hardware, electrical control cubicles, one, man-machine interface computer and exchanged
Machine.
PLC control system is responsible for the work of coordinating robot, vision system and eddy detection system.It also is responsible for simultaneously
Communication is interacted with the upstream and downstream controller of on-line system.Control the inflow, outflow, quality measurements of on-line system vehicle frame
Archive and upper system Quality Feedback result.
The present invention also provides a kind of vehicle body solder joint automatic detection control method, comprises the following steps：
S1：Probe apparatus on mechanical arm is directed at vehicle body bond pad locations；
S2：Vehicle body bond pad locations are taken pictures using camera, obtain the image with certain angle of inclination；
S3：Then tilted image is corrected by orthographic projection shooting angle by image acquisition and processing device, obtained real
Weld locations are surveyed, and calculate actual measurement weld locations and the offset of original set point, as shown in Figure 7；
S4：The PLC is corrected according to vehicle body bond pad locations offset to the probe positions on robotic arm；
S5：Control probe apparatus detects to vehicle body quality of welding spot.
The work schedule of whole system is as follows：The preliminary teaching of solder joint is detected by robot engineering Shi Jinhang first.Make machine
Device people remembers the approximate location of all detection solder joints.Then client chooses the solder joint for wanting measurement as needed.Click on automatic fortune
OK.PLC says the word according to client selected location and starts to move to robot.Robot is sent after moving to above specified solder joint
Photographing instruction is to vision system.Vision system is taken pictures and forms image.PLC is numbered according to solder joint and is sent the image recognition
Optimized parameter.If can not identify current solder joint center, PLC can by parameter library parameter put in order send successively it is new
Image recognition parameter.After robot test position with original setting after center is detected contrasts, actual solder joint center is sent
Deviant to robot, and set this visual identity parameter be the solder joint optimized parameter for next time use.Robot root
Eddy current probe, which is moved, according to deviant carries out welding quality measurement to bond pad locations.And result is saved in man-machine interaction computer
In.Then the detection of next solder joint is carried out.All solder joint PLC notices upstream device outflow vehicle bodies are detected.
Above-mentioned is the measuring method of individual machine people's system.To meet to cover the requirement of all vehicle body whole solder joints, this hair
The bright system for designing four robots.Control method is the same with logic.Off-line system and on-line system control method and logic phase
Together, simply it is not involved in the interaction of the upstream and downstream vehicle body of on-line system.
Vehicle body solder joint automatic checkout system and its control method provided by the invention, the solution guided by robot vision
Scheme greatly shortens the time of each solder joint of test, and specific advantage is as follows：1. the solution of robot vision guiding makes survey
The time for trying each solder joint greatly shortens.By 5 seconds of original a few minutes till now.2. four robotic solutions make system
Vehicle body whole solder joint can be covered.3. carrying out algorithm process to image after being taken pictures using computer vision, solder joint can be accurately drawn
Central point, deviation are less than 0.5mm.4. angled camera needs camera vertical when can save and take pictures with probe setting
In the process of workpiece, the actuation time of 1 second is saved.5. the light source design of certain angle can identify no grey scale change but have
The center of the solder joint of convex-concave change.6. the light path design of multimirror greatly reduces the volume of vision system.7. self study
Parameter setting and use improve the recognition efficiency of vision system while also save cumbersome artificial arrange parameter process.8. whirlpool
Detection technique is flowed compared with ultrasonic measurement, is greatly simplified operational sequence, is realized robotic gripper probe and is carried out vehicle body solder joint
Detection.9. linear test coil of eddy current arrangement can measure the nugget actual diameter of solder joint, detection sensitivity is up to
0.7mm.10. flexible mechanical connection can ensure eddy current probe Automatic Levelling, plane is vertically tested.11. the inspection of subsection setup
Mark will definitely be with for according to being tested, material is different to use more accurate parameter setting.
Although the present invention is disclosed as above with preferred embodiment, so it is not limited to the present invention, any this area skill
Art personnel, without departing from the spirit and scope of the present invention, when a little modification and perfect, therefore the protection model of the present invention can be made
Enclose to work as and be defined by what claims were defined.
Claims (12)
1. a kind of vehicle body solder joint automatic checkout system, including controller and robotic arm, it is characterised in that on the robotic arm
It is clamped with vision system and probe apparatus；The vision system includes camera, lighting source and image acquisition and processing device, described
Probe apparatus includes probe and its flexible clamping mechanism；The probe apparatus face vehicle body solder joint, the camera and probe apparatus
Between form the first angle, the number of the lighting source is multiple, and the multiple lighting source is distributed along around camera,
The second angle is formed between the lighting source and camera, the camera is connected with described image acquisition processing device obtains vehicle body
Bond pad locations, the controller and described image acquisition processing device are connected by network, and the controller is according to vehicle body solder joint
Position is corrected to the probe positions on robotic arm.
2. vehicle body solder joint automatic checkout system as claimed in claim 1, it is characterised in that the robotic arm is provided with aluminium profiles
Frame bearing, the aluminium profiles frame bearing are arranged on robotic arm by ring flange, and the probe apparatus is fixed on the support of the first L-type
On bar, the first L-type support bar is perpendicular with aluminium profiles frame bearing and locking is connected；The camera is fixed on the support of the second L-type
On bar, the second L-type support bar is connected by Wedge-shape connector with aluminium profiles frame bearing.
3. vehicle body solder joint automatic checkout system as claimed in claim 1, it is characterised in that the scope of first angle is
30 °~60 °, the scope of second angle is 15 °~60 °.
4. vehicle body solder joint automatic checkout system as claimed in claim 1, it is characterised in that the lighting source is LED illumination
Light source, the multiple LED illumination light source around the distribution of the radians such as camera excircle and carry out polishing by speculum, form vision
System.
5. vehicle body solder joint automatic checkout system as claimed in claim 1, it is characterised in that the probe apparatus includes vortex and visited
Head and cylinder, the eddy current probe are connected by rotatable mounting seat with connector is swung, and the cylinder is fixed on the top of the shelf, institute
State cylinder by Pneumatic slid platform with the rotatable mounting seat for swinging connector to be connected, described one end for swinging connector and hanger bracket
It is connected, the other end of the hanger bracket is fixed on the top of the shelf by extension spring.
6. vehicle body solder joint automatic checkout system as claimed in claim 5, it is characterised in that the eddy current probe is by magnet exciting coil
Multiple linearly aligned test coil of eddy current compositions thereunder.
7. a kind of vehicle body solder joint automatic detection control method, it is characterised in that using vehicle body solder joint as claimed in claim 1 certainly
Dynamic detecting system, the control method comprise the following steps：
S1：Probe apparatus on mechanical arm is directed at vehicle body bond pad locations；
S2：Vehicle body bond pad locations are taken pictures using camera, obtain the image with certain angle of inclination；
S3：Then tilted image is corrected by orthographic projection shooting angle by image acquisition and processing device, obtains actual measurement weldering
Connecting point position, and calculate actual measurement weld locations and the offset of original set point；
S4：The controller is corrected according to vehicle body bond pad locations offset to the probe positions on robotic arm；
S5：Control probe apparatus detects to vehicle body quality of welding spot.
8. vehicle body solder joint automatic detection control method as claimed in claim 7, it is characterised in that the step S1 uses four
Robotic arm is distributed in vehicle body surrounding, the vehicle body of each robotic arm covering 1/4；Using controller according to vehicle body bond pad locations pair
Probe positions on mechanical arm are corrected.
9. vehicle body solder joint automatic detection control method as claimed in claim 7, it is characterised in that in the step S2, work as weldering
Point and background be not when having obvious gray scale difference, passes through software control and the angled multiple lighting sources of camera never Tongfang
To polishing is lighted successively, the image containing different shade directions is obtained, by the way that the imaging importing in different shade directions is calculated
The central point for going out the figure with concavo-convex change is the center of solder joint.
10. vehicle body solder joint automatic detection control method as claimed in claim 7, it is characterised in that also include default a series of
Image recognition parameter library, when being detected to same position weld point image after vehicle body of newly arriving every time, first welded with suboptimum parameter
Dot center identifies；When None- identified solder joint center, parameter is identified in auto recycling parameter library, until identifying weldering
Dot center, and have this parameter as new optimized parameter.
11. vehicle body solder joint automatic detection control method as claimed in claim 7, it is characterised in that the probe apparatus is can
Flexible x, y, the omnidirectional compliant mechanisms of z, the flexible of probe is controlled using Mobile Slide, contracting upwards of being popped one's head in when camera is taken pictures
Return；Probe is stretched out when being detected after positioning.
12. vehicle body solder joint automatic detection control method as claimed in claim 7, it is characterised in that work as weldering in the step S5
Point is used as judgement position in Near The Critical Point, then one section of waveform that difference maximum is taken separated from Full wave shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711283497.2A CN107843644B (en) | 2017-12-07 | 2017-12-07 | Automatic detection system for welding spots of vehicle body and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711283497.2A CN107843644B (en) | 2017-12-07 | 2017-12-07 | Automatic detection system for welding spots of vehicle body and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107843644A true CN107843644A (en) | 2018-03-27 |
| CN107843644B CN107843644B (en) | 2020-12-04 |
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| CN201711283497.2A Active CN107843644B (en) | 2017-12-07 | 2017-12-07 | Automatic detection system for welding spots of vehicle body and control method thereof |
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| CN112318023A (en) * | 2020-09-29 | 2021-02-05 | 奇瑞汽车股份有限公司 | Welding spot position marking device and method |
| CN112325818A (en) * | 2020-11-09 | 2021-02-05 | 东风汽车集团有限公司 | Quality analysis early warning method for body-in-white size |
| CN112666248A (en) * | 2020-12-16 | 2021-04-16 | 上海交通大学 | Weld defect automatic detection method and system based on deep learning |
| CN113182738A (en) * | 2021-05-10 | 2021-07-30 | 宝能(广州)汽车研究院有限公司 | Welding spot positioning system and method |
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