CN108015458A - Container welding method and device - Google Patents
Container welding method and device Download PDFInfo
- Publication number
- CN108015458A CN108015458A CN201711288704.3A CN201711288704A CN108015458A CN 108015458 A CN108015458 A CN 108015458A CN 201711288704 A CN201711288704 A CN 201711288704A CN 108015458 A CN108015458 A CN 108015458A
- Authority
- CN
- China
- Prior art keywords
- welding
- weld seam
- light emitter
- lasing light
- container
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30152—Solder
Abstract
The present invention relates to a kind of container welding method, comprise the following steps：Lasing light emitter is projected to position while welding to be welded, the lasing light emitter is formed two sections of deviation laser rays in the weld seam both sides；The positional information of the deviation laser rays is obtained by image acquisition units；According to the size and location of weld seam described in the positional information calculation of deviation laser rays；Weld interval and the motion track of welding gun are determined according to the size and location of the weld seam, position while welding to be welded is welded；Along lasing light emitter described in the weld movement, repeat the above steps untill lasing light emitter travels through whole weld seam.The container welding method that the application provides determines position and the size of weld seam using laser, so as to control welding position and the weld interval of welding gun accordingly, ensure that the welding precision and welding quality of container corrugated plate.
Description
Technical field
The present invention relates to container manufacture field, more particularly to a kind of container welding method and device.
Background technology
Container refers to that there is some strength, rigidity and specification to specialize in the large-scale goods container being used in turn.Use packaging
Case transshipment cargo, can directly shipping room freight, be transported to receive warehouse unloading, even if midway more change trains, ship, also need not will
Cargo takes out out of case and changes the outfit.Container is by establishing the standardization of products including ship, harbour, course line, highway, transfer
Stand, the complete transportation system including bridge etc..Container exterior panel is welded with steel plate, in order to improve the strong of steel plate
Degree, generally can some grooves arranged at equal interval of punching press, therefore be also corrugated plating on the steel plate during production.
During conventional art is realized, inventor has found that at least there are following technical problem：
Container corrugated plate mainly uses manual welding, and welding quality is difficult to control, and corrugated plating appearance of weld is of low quality；
Simultaneously because welding conditions can not realize effective tracking adjustment in welding process, make the appearance of weld quality of different slope sections have substantially
Difference, it is difficult to meet to the welding quality coherence request of corrugated plating.
The content of the invention
Based on this, it is necessary to a kind of the problem of being difficult to ensure that for container manual welding quality, there is provided container welding
Method and device.
The application provides a kind of container welding method, comprises the following steps：
Lasing light emitter is projected to position while welding to be welded, the lasing light emitter is formed two sections of deviations in the weld seam both sides
Laser rays；
The positional information of the deviation laser rays is obtained by image acquisition units；
According to the size and location of weld seam described in the positional information calculation of deviation laser rays；
Weld interval and the motion track of welding gun are determined according to the size and location of the weld seam, to weld seam position to be welded
Put and welded；
Along lasing light emitter described in the weld movement, repeat the above steps untill lasing light emitter travels through whole weld seam.
In one of the embodiments, the lasing light emitter is line laser.
In one of the embodiments, the step that the deviation laser line position information is obtained by image acquisition units
Suddenly include：
Image of the line laser in the commissure deviation is obtained using described image collecting unit；
Establish plane right-angle coordinate and determine two sections of deviation laser rays of weld seam both sides described in image close to weld seam one
The extreme coordinates of side.
In one of the embodiments, it is described according to the positional information calculation of deviation laser rays the step of weld seam size
Including：
The end of the close weld seam side for the both ends deviation laser rays that same lasing light emitter is produced in the same place of the weld seam
Point coordinates subtracts each other, and obtains the offset in image；
Determine the engineer's scale of described image；
Offset and engineer's scale in image calculate the size of weld seam.
In one of the embodiments, the motion track of the welding gun is parallel to the weld seam.
The container welding method that the application provides determines position and the size of weld seam using laser, so that control weldering accordingly
The welding position of rifle and weld interval, ensure that the welding precision and welding quality of container corrugated plate.
The application also provides a kind of container welding device, including：
Laser generating unit, to produce lasing light emitter and project position while welding to be welded；
Image acquisition units, to obtain the positional information of deviation laser rays；
Processing unit, to calculate the size and location of weld seam；
Control unit, to control lasing light emitter moving along weld seam；
Welding unit, to implement welding operation to weld seam.
In one of the embodiments, the laser generating unit can at least produce two bunch laser.
In one of the embodiments, described image collecting unit is industrial camera.
In one of the embodiments, the welding unit includes welding parameter adjustment module, to adjust the weldering of welding machine
Connect parameter.
In one of the embodiments, the welding unit further includes welding track control module, to control welding gun
Welding position.
The container welding device that the application provides determines position and the size of weld seam using laser, so that control weldering accordingly
The welding position of rifle and weld interval, ensure that the welding precision and welding quality of container corrugated plate.
Brief description of the drawings
Fig. 1 is the container welding method flow diagram that the application provides；
Fig. 2 is the schematic diagram of container soldering joint in one embodiment that the application provides.
L lasing light emitters
12 weld seams
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In attached drawing
Give the preferred embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure more saturating
It is thorough comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The normally understood implication of technical staff is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
Container is to load cargo to be transported, and easy to carry out a kind of instrument of handling with mechanical equipment.Collection
Vanning is main to include side plate, end plate and case top, and side plate includes framed side wallboard, front wallboard, door-plate etc..Weld weld seam master during container
Concentrate between side plate and upper and lower curb girder, front wallboard and front upper and lower beam and door-plate and door vertical beam.At present, container is carried out
During welding, use semiautomatic welding and manual welding mostly, or using simple mechanical type tracking, only between Butt welding gun and side plate away from
From progress coarse adjustment.Welding process need weld operating personnel adjust at random welding gun height, i.e., between welding gun and upper and lower curb girder away from
From, and the distance between Butt welding gun and side plate just can guarantee that welding quality into line trace fine setting.As it can be seen that existing welding equipment is certainly
Dynamicization degree is relatively low, so as to significantly impact welding efficiency.Further, since welding quality is heavily dependent on welding operation
Personnel, therefore weldquality and its stability cannot be effectively ensured.
Fig. 1 is refer to, the application provides a kind of container corrugated plate welding method, including：
S100：Lasing light emitter is projected to position while welding to be welded, lasing light emitter is formed two sections of deviations in weld seam both sides and swashs
Light.
Wherein, weld seam refers to needing the part combined when two pieces of container corrugated plates weld together.Described laser
Source is line laser.As shown in Fig. 2, corrugated plating forms a weld seam with weldment bottom girder or upper beam in junction, line laser is projected
When in welded joints, due to the presence of weld seam, deviation occurs for light, and forms two sections of deviation laser rays in weld seam both sides.In figure, line
Laser 11 produces deviation at weld seam 12 and forms deviation laser rays 121 and deviation laser rays 122.
S200：The positional information of deviation laser rays is obtained by image acquisition units.
Wherein, image acquisition units can be industrial camera.Industrial camera is not only able to the micrograph of shooting object
Picture, additionally it is possible to which measurement shoots the parameters such as the length, angle, area of object.The most crucial component of industrial camera is image sensing
Device, mainly there is two kinds of ccd sensor and cmos sensor.CCD is a kind of semiconductor devices, optical image can be converted into electricity
Signal.The small photoactive substance being implanted on CCD is referred to as pixel (Pixel).The pixel number included on one piece of CCD is more, it is provided
Screen resolution it is also higher.There is the photodiode of many marshallings on CCD, light can be sensed, and optical signal is turned
Become electric signal, data image signal is converted into through external sampling amplification and analog to digital conversion circuit.Cmos image sensor is usual
By image-sensitive cell array, line driver, row driver, time sequence control logic, a/d converter, data/address bus output interface, control
A few part compositions such as interface, this several part is usually all integrated on same silicon chip.Its course of work generally can be divided into reset,
Opto-electronic conversion, integration, read several parts.Difference between the two is：CCD is the high-end technology applied in terms of photography and vedio recording
Element, CMOS are then applied to the product of relatively low image quality.
Described the step of obtaining deviation laser line position information by image acquisition units, specifically includes：
S201：Image of the line laser in commissure deviation is obtained using image acquisition units.
Deviation situation of the line laser in commissure is shot by industrial camera, especially line laser is formed in commissure
The image of two sections of deviation laser rays.The related letter of position relationship between deviation laser rays and weld seam is contained in above-mentioned image
Breath.
S202：Establish plane right-angle coordinate and determine two sections of deviation laser rays of weld seam both sides in image close to weld seam one
The extreme coordinates of side.
Plane right-angle coordinate is established in the image obtained in S201 by image acquisition units, using the coordinate system as mark
Standard, determines extreme coordinates of two sections of deviation laser rays close to weld seam side.As shown in Fig. 2, deviation laser rays 121 is close to weld seam 12
The extreme coordinates of side are denoted as (x1, y1), and extreme coordinates of the deviation laser rays 122 close to 12 side of weld seam are denoted as (x2, y2).
S300：According to the size and location of the positional information calculation weld seam of deviation laser rays.
The size of weld seam is embodied by the distance between endpoint of two sections of deviation laser rays.The positional information of weld seam is then led to
Deviation laser rays is crossed close to the extreme coordinates of weld seam side to embody.
The step of positional information calculation weld seam size according to deviation laser rays, specifically includes：
S301：The end of the close weld seam side for the both ends deviation laser rays that same lasing light emitter is produced in the same place of weld seam
Point coordinates subtracts each other, and obtains the offset in image.
It is worth noting that, herein subtract each other and it is indirect make difference scalar subtraction but subtraction of vector.Specifically, it is
The deviation laser rays extreme coordinates (x1, y1) obtained in S202 and (x2, y2) are substituted into formula
In calculated, so as to obtain the size of the offset d, i.e. weld seam in image.
S302：Determine the engineer's scale of image.
Size in the image obtained due to image acquisition units is proportional to actual size, can be by image
Offset obtain the actual size of weld seam, this ratio is exactly the engineer's scale of image., can be with order to determine the engineer's scale of image
A references object, such as the developed width of line laser are chosen, by the way that the line laser width in image and line laser is actual wide
Degree makees the engineer's scale than can just obtain image.References object can also be other objects of embodiment in the picture, as long as obtaining
The actual size of the object, then measure the object and embody size on the image and can just obtain the engineer's scale of image.
S303：Offset and engineer's scale in image calculate the size of weld seam.
Assuming that the engineer's scale obtained in S302 according to the size of object in the picture with object actual size ratio is C, then
Weld seam size should be offset in image d's divided by engineer's scale C.
S400：Weld interval and the motion track of welding gun are determined according to the size and location of the weld seam, to be welded
Position while welding is welded.
The size of weld seam determines welding gun in residence time length in position to be welded during container is welded.Weldering
Seam it is bigger, residence time of the welding gun in welding position it is longer, it is necessary to solder it is more；Weld seam is smaller, and welding gun is in welding position
Residence time it is shorter, it is necessary to solder it is fewer.The motion track of welding gun then should be parallel with weld seam.
, should in order to ensure that the motion track of welding gun is parallel with weld seam due to the usual undulate of the weld seam of corrugated plating
Remained unchanged when making welding gun to the distance between corrugated plating.This just need with lasing light emitter determine welding gun between corrugated plating away from
From its basic principle is to measured objective emission laser pulse and starts timing, stops timing when receiving reflected light.It is logical
Cross timer and measure laser beam from the time of reception is transmitted to, so as to calculate the distance between laser and target.
In welding process, solder stress at weld seam diverse location is different so as to cause mobility different, makes appearance of weld
It is changed significantly at different sections.Therefore, to keep appearance of weld consistent, it is necessary to according to the different using different of weld seam position to be welded
Welding parameter (speed of welding, weldingvoltage, welding current etc.), so as to ensure integral solder quality.
S500：Along weld movement lasing light emitter, repeat the above steps untill lasing light emitter travels through whole weld seam.
During along weld movement lasing light emitter, projected position of the line laser in commissure changes.Traveled through with the projection of line laser
Whole weld seam, the image that repeating the above steps can just collect according to image acquisition units calculate size and the position of weld seam
Put.
The application also provides a kind of container welding device, including：Laser generating unit, image acquisition units, processing are single
Member, control unit and welding unit.
In one embodiment that the application provides, laser generating unit is producing lasing light emitter and project to be welded
Position while welding.Lasing light emitter projects position while welding to be welded, and two sections of deviation laser rays are formed in weld seam both sides.Laser occurs single
Member can at least produce two bunch laser.Wherein, at least a branch of line laser projects the size that position while welding is used to determine weld seam
And positional information, at least a branch of line laser are used to detect welding gun to the distance of corrugated plating.
In one embodiment that the application provides, image acquisition units are obtaining the positional information of deviation laser rays.
Specifically, image acquisition units can be industrial camera.Industrial camera is not only able to the micro-image of shooting object, moreover it is possible to
Enough measurements shoot the parameters such as the length, angle, area of object.Line laser is obtained in commissure deviation using image acquisition units
Image and extreme coordinates of two sections of deviation laser rays close to weld seam side for determining weld seam both sides in image.
In one embodiment that the application provides, processing unit is calculating the size and location of weld seam.Weld seam it is big
It is small to be embodied by the distance between endpoint of two sections of deviation laser rays.The positional information of weld seam is then close by deviation laser rays
The extreme coordinates of weld seam side embody.
In one embodiment that the application provides, control unit is controlling lasing light emitter moving along weld seam.Along weld seam
During mobile lasing light emitter, projected position of the line laser in commissure changes.The size and location information of weld seam everywhere is obtained, just
Line laser is needed to travel through whole weld seam.
In one embodiment that the application provides, welding unit operates to implement welding to weld seam.Welding unit bag
Include welding parameter adjustment module and welding track control module.Wherein, welding parameter adjustment module is adjusting the welding of welding machine
Parameter, welding track control module is controlling the welding position of welding gun.In detail, stress is not at weld seam diverse location for solder
With so as to cause mobility different, appearance of weld is set to be changed significantly at different sections.Therefore, to keep appearance of weld consistent, it is necessary to
The welding parameter (speed of welding, weldingvoltage, welding current etc.) of welding machine is adjusted in the different welding positions of weld seam, so as to ensure
Integral solder quality.Welding track control module ensures that lasing light emitter determines that welding gun is constant to the distance between corrugated plating, so that
The motion track of welding gun and weld seam keeping parallelism.
The present invention is more fully understood for convenience, and the concrete application scene of the present invention is described below：
First, laser generating unit produces at least two beam lasing light emitters and at least a branch of projects weldering to be welded by therein
Position is stitched, lasing light emitter forms two sections of deviation laser rays in weld seam both sides.In addition at least beam of laser source is used to determine that welding gun arrives
The distance between corrugated plating.Then, image acquisition units obtain the positional information of deviation laser rays.Processing unit is adopted according to image
Collect the size and location that the information that unit obtains calculates weld seam.Welding unit adjusts the weldering of welding machine by welding parameter adjustment module
Parameter is connect, the welding position of welding gun is controlled by welding track control module.Finally, control unit control lasing light emitter is moved along weld seam
It is dynamic, untill whole weld seam is traveled through.When lasing light emitter completes the traversal of whole weld seam, welding gun is also had been completed to weld seam
The welding of everywhere.
Embodiment described above only expresses the several embodiments of the present invention, its description is more specific and detailed, but simultaneously
Cannot therefore it be construed as limiting the scope of the patent.It should be pointed out that come for those of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
- A kind of 1. container welding method, it is characterised in that comprise the following steps：Lasing light emitter is projected to position while welding to be welded, the lasing light emitter is formed two sections of deviation laser in the weld seam both sides Line；The positional information of the deviation laser rays is obtained by image acquisition units；According to the size and location of weld seam described in the positional information calculation of deviation laser rays；Weld interval and the motion track of welding gun are determined according to the size and location of the weld seam, to position while welding to be welded into Row welding；Along lasing light emitter described in the weld movement, repeat the above steps untill lasing light emitter travels through whole weld seam.
- 2. container welding method according to claim 1, it is characterised in that the lasing light emitter is line laser.
- 3. container welding method according to claim 1, it is characterised in that described to obtain institute by image acquisition units The step of stating deviation laser line position information includes：Image of the line laser in the commissure deviation is obtained using described image collecting unit；Establish plane right-angle coordinate and determine two sections of deviation laser rays of weld seam both sides described in image close to weld seam side Extreme coordinates.
- 4. the container welding method according to claim 1 or 3, it is characterised in that the position according to deviation laser rays The step of confidence breath calculates the weld seam size includes：The endpoint of the close weld seam side for the both ends deviation laser rays that same lasing light emitter is produced in the same place of the weld seam is sat Mark subtracts each other, and obtains the offset in image；Determine the engineer's scale of described image；Offset and engineer's scale in image calculate the size of weld seam.
- 5. container welding method according to claim 1, it is characterised in that the motion track of the welding gun is parallel to institute State weld seam.
- A kind of 6. container welding device, it is characterised in that including：Laser generating unit, to produce lasing light emitter and project position while welding to be welded；Image acquisition units, to obtain the positional information of deviation laser rays；Processing unit, to calculate the size and location of weld seam；Control unit, to control lasing light emitter moving along weld seam；Welding unit, to implement welding operation to weld seam.
- 7. container welding device according to claim 6, it is characterised in that the laser generating unit can at least produce Raw two bunch laser.
- 8. container welding device according to claim 6, it is characterised in that described image collecting unit images for industry Machine.
- 9. container welding device according to claim 6, it is characterised in that the welding unit includes welding parameter tune Module is saved, to adjust the welding parameter of welding machine.
- 10. container welding device according to claim 6, it is characterised in that the welding unit further includes welding rail Mark control module, to control the welding position of welding gun.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711288704.3A CN108015458A (en) | 2017-12-07 | 2017-12-07 | Container welding method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711288704.3A CN108015458A (en) | 2017-12-07 | 2017-12-07 | Container welding method and device |
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| Publication Number | Publication Date |
|---|---|
| CN108015458A true CN108015458A (en) | 2018-05-11 |
Family
ID=62079052
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711288704.3A Pending CN108015458A (en) | 2017-12-07 | 2017-12-07 | Container welding method and device |
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| CN (1) | CN108015458A (en) |
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| CN109927047A (en) * | 2019-04-11 | 2019-06-25 | 上海工程技术大学 | The axial tracking system and method for arc welding robot straight line butt weld |
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| CN112122775A (en) * | 2020-09-22 | 2020-12-25 | 成都卡诺普自动化控制技术有限公司 | Transformer oil tank welding line and cooling fin identification method based on laser welding line tracking |
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