CN109387569A - A kind of quality of welding spot automatic checkout system - Google Patents
A kind of quality of welding spot automatic checkout system Download PDFInfo
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- CN109387569A CN109387569A CN201710684921.8A CN201710684921A CN109387569A CN 109387569 A CN109387569 A CN 109387569A CN 201710684921 A CN201710684921 A CN 201710684921A CN 109387569 A CN109387569 A CN 109387569A
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- 238000003466 welding Methods 0.000 title claims abstract description 25
- 229910000679 solder Inorganic materials 0.000 claims abstract description 84
- 239000000523 sample Substances 0.000 claims abstract description 57
- 238000001514 detection method Methods 0.000 claims abstract description 34
- 238000006243 chemical reaction Methods 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 11
- 239000012636 effector Substances 0.000 claims description 5
- 238000000605 extraction Methods 0.000 claims description 5
- 238000003708 edge detection Methods 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000004088 simulation Methods 0.000 claims 1
- 238000012360 testing method Methods 0.000 abstract description 6
- 238000012545 processing Methods 0.000 description 8
- 239000000203 mixture Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000000105 evaporative light scattering detection Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
- G01N29/0654—Imaging
- G01N29/069—Defect imaging, localisation and sizing using, e.g. time of flight diffraction [TOFD], synthetic aperture focusing technique [SAFT], Amplituden-Laufzeit-Ortskurven [ALOK] technique
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/225—Supports, positioning or alignment in moving situation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0234—Metals, e.g. steel
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/0289—Internal structure, e.g. defects, grain size, texture
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/26—Scanned objects
- G01N2291/267—Welds
- G01N2291/2672—Spot welding
Abstract
The present invention discloses a kind of quality of welding spot automatic checkout system.The system comprises ultrasonic detection device, industrial personal computer, robot, photographic device and host computers.Host computer is handled by the picture signal of the solder joint to be detected obtained to photographic device, ultrasonic probe is calculated at a distance from solder joint to be detected, the ultrasonic probe being mounted in robot is driven to be directed at solder joint to be detected by industrial personal computer control robot, and control ultrasonic detection device transmitting and received ultrasonic signal, host computer is by handling ultrasonic echo signal, the quality for evaluating solder joint to be detected realizes the online automatic detection of butt welding point mass.The present invention can make ultrasonic probe be automatically aligned to solder joint to be detected, and solve testing result existing for existing manual operation alignment is influenced by equipment and solder joint degree of registration, and Stability and veracity is difficult to the problems such as ensureing.
Description
Technical field
The invention belongs to Welding quality test technical fields, and in particular to a kind of quality of welding spot automatic checkout system.
Background technique
With the rapid development of automotive engineering, the requirement to automobile body-in-white welding quality is higher and higher, quality of welding spot inspection
Survey technology comes into being.Currently, the most common quality of welding spot detection method is using supersonic welding point mass detection technique: to weldering
Point transmitting ultrasonic signal, and receive by the reflected ultrasonic echo signal of solder joint.The echo of the solder joint of different quality is believed
Number also different, by carrying out data processing to echo-signal, quality of welding spot detection is realized in feature extraction.
Existing ultrasonic detection technology generally uses manual type, is popped one's head in by experienced engineer's hand-held ultrasound continuous
It adjusts the angle to be directed at bond pad locations, waits and just can be carried out quality of welding spot evaluation after occurring stable echo-signal on detection screen.
The defect of people's formula method is: detection efficiency is low, is not suitable for the large batch of solder joint detection of assembly line；Testing result by equipment with
The influence of solder joint degree of registration, Stability and veracity are difficult to ensure.
Summary of the invention
In order to solve the above-mentioned problems in the prior art, the present invention proposes a kind of quality of welding spot automatic checkout system,
Ultrasonic probe can be made to be automatically aligned to solder joint to be detected, realize the automatic detection to quality of welding spot to be detected.
To achieve the above object, the present invention adopts the following technical scheme:
The present invention provides a kind of quality of welding spot automatic checkout system, comprising: ultrasonic detection device, industrial personal computer, and robot,
Photographic device, host computer.Industrial personal computer is used to control robot and drives the ultrasonic probe being mounted in robot and camera shooting
Device movement；Ultrasonic detection device is used under industrial personal computer control emit and received ultrasonic signal, and by the to be checked of output
The ultrasonic echo signal for surveying solder joint is sent to host computer through industrial personal computer；Photographic device is used to obtain the image of solder joint to be detected
Signal, and described image signal is sent to host computer through industrial personal computer；Host computer is used for by described image signal
It is handled, calculates the distance, delta R of ultrasonic probe and solder joint to be detected, and Δ R is sent to industrial personal computer, industrial personal computer controls machine
People drives ultrasonic probe to move a distance that size is Δ R to solder joint to be detected, and ultrasonic probe is made to be directed at weldering to be detected
Point；Host computer is also used to evaluate the quality of solder joint to be detected by handling ultrasonic echo signal.
Further, the artificial six-shaft industrial robot of the machine realizes translation and rotation, packet by the combination of six axis
Include robot body, electrical control cabinet and teaching machine；Robot body movement under teaching machine control can obtain weldering to be detected
The apparent position of point；Ultrasonic probe and photographic device are mounted on the mounting surface of robot body end effector.
Further, the ultrasonic detection device includes: ultrasonic probe, transceiver module, analog-to-digital conversion module.It is described
Transceiver module includes transmit circuit and receives circuit, and the transmit circuit is for driving the ultrasonic probe transmitting ultrasonic wave letter
Number；The reception circuit is for amplifying filtering to the received ultrasonic echo signal of the ultrasonic probe；The modulus
Conversion module is used to the analog signal for receiving circuit output being converted into digital signal.
Further, the host computer calculates super for being handled by the picture signal to solder joint to be detected
The distance, delta R of sonic probe and solder joint to be detected, specifically includes:
Region of interesting extraction, denoising, edge detection, circle contour process of fitting treatment are carried out to described image, obtained to be detected
The center position of solder joint circle contour；The conversion from pixel coordinate system to robot coordinate system is carried out, the central point is obtained and exists
Coordinate in robot coordinate system；According to coordinate of the ultrasonic probe in robot coordinate system calculate ultrasonic probe with it is described
Δ R can be obtained in the distance of central point.
Further, the host computer is also used to evaluate to be detected by handling ultrasonic echo signal
The quality of solder joint, specifically includes:
Host computer extracts the characteristic parameter of the ultrasonic echo signal of solder joint to be detected, by by the characteristic parameter
It is compared with the threshold value of the characteristic parameter of various quality solder joints, determines the quality of solder joint to be detected.The threshold value by using
Ultrasonic detection device carries out actually detected obtain to the solder joint sample of various quality.
Compared with prior art, the invention has the following advantages:
Quality of welding spot automatic checkout system proposed by the present invention, including setting ultrasonic detection device, industrial personal computer, machine
People, photographic device and host computer.Host computer by the picture signal of the solder joint to be detected that photographic device is obtained into
Row processing calculates ultrasonic probe at a distance from solder joint to be detected, is mounted in robot by the drive of industrial personal computer control robot
Ultrasonic probe be directed at solder joint to be detected, and control ultrasonic detection device transmitting and received ultrasonic signal, upper calculating
Machine evaluates the quality of solder joint to be detected by handling ultrasonic echo signal, realize butt welding point mass it is online from
Dynamic detection.The present invention can make ultrasonic probe be automatically aligned to solder joint to be detected, solve existing manual operation alignment and deposit
Testing result influenced by equipment and solder joint degree of registration, Stability and veracity is difficult to the problems such as ensureing.
Detailed description of the invention
Fig. 1 is a kind of composition block diagram of quality of welding spot automatic testing method of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of robot.
In figure: 1- ultrasonic detection device, 11- ultrasonic probe, 12- transceiver module, 13- analog-to-digital conversion module, 2- work
Control machine, 3- robot, 4- photographic device, 5- host computer.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
A kind of composition block diagram of quality of welding spot automatic checkout system of the embodiment of the present invention as shown in Figure 1, the system comprises:
Ultrasonic detection device 1, industrial personal computer 2, robot 3, photographic device 4, host computer 5.Industrial personal computer 2 is for controlling robot 3
Drive the ultrasonic probe 11 being mounted in robot 3 and photographic device 4 mobile；Ultrasonic detection device 1 is for emitting and connecing
Ultrasonic signal is received, and the ultrasonic echo signal for exporting solder joint to be detected is sent to host computer 5 through industrial personal computer 2；Camera shooting
Device 4 is used to obtain the picture signal of solder joint to be detected, and described image signal is sent to host computer 5 through industrial personal computer 2；On
Bit machine 5 calculates ultrasonic probe 11 and solder joint to be detected for handling by the picture signal to solder joint to be detected
Distance, delta R, and Δ R is sent to industrial personal computer 2, industrial personal computer 2 controls robot 3 and drives ultrasonic probe 11 dynamic to solder joint to be detected
A distance that dynamic size is Δ R, makes ultrasonic probe 11 be directed at solder joint to be detected；Host computer 5 is also used to by super
Sound echo signal is handled, and the quality of solder joint to be detected is evaluated.
In the present embodiment, the system is mainly by ultrasonic detection device 1, industrial personal computer 2,3 photographic device of robot, 4 and
Host computer 5 forms.Industrial personal computer 2 controls the designated position that robot 3 drives photographic device 4 to be moved close to solder joint to be detected
Afterwards, control photographic device 4 shoots the picture signal of solder joint to be detected, and described image is sent to host computer 5 after industrial personal computer 2.
Photographic device 4 is mainly made of digital camera, by the data image signal for shooting available solder joint to be detected.In order to avoid
Because of the bad influence picture quality of light, a secondary light source can be set.Host computer 5 passes through the image to solder joint to be detected
It is handled, calculates ultrasonic probe 11 and be sent to industrial personal computer 2, industry control at a distance from solder joint to be detected, and by the range data
Machine 2 controls robot 3 and ultrasonic probe 11 is driven to move a distance to solder joint to be detected, is directed at ultrasonic probe 11 to be checked
Survey solder joint；Industrial personal computer 2 controls ultrasonic detection device 1 and works, and emits ultrasonic signal to solder joint to be detected, receives weldering to be detected
Point reflection return faint ultrasonic signal, and amplify filtering etc. processing after ultrasound echo signal is given through industrial personal computer 2
To host computer 5；Host computer 5 evaluates the matter of solder joint to be detected by handling the ultrasonic echo signal
Amount.After having executed above-mentioned steps, industrial personal computer 2 controls robot 3 and moves to next solder joint to be detected, right after the same method
Next solder joint to be detected carries out quality testing.
The present embodiment passes through setting ultrasonic detection device 1, industrial personal computer 2,3 photographic device 4 of robot and host computer
5, ultrasonic probe can be made to be automatically aligned to solder joint to be detected, realize the online automatic detection of butt welding point mass, there is operation
Simply, the advantages that speed is fast, precision is high.Solve testing result existing for existing manual operation alignment by equipment with
The influence of solder joint degree of registration, Stability and veracity are difficult to the problems such as ensureing.
As a kind of alternative embodiment, the robot 3 is six-shaft industrial robot, is realized by the combination of six axis flat
It moves and rotates, including robot body, electrical control cabinet and teaching machine；Robot body is moved and can be obtained under teaching machine control
Obtain the apparent position of solder joint to be detected；Ultrasonic probe 11 and photographic device 4 are mounted on the peace of robot body end effector
On dress face.
In the present embodiment, robot 3 is six-shaft industrial robot, mainly by robot body, electrical control cabinet and is shown
Teach device composition.Electrical control cabinet is electrically connected with industrial personal computer 2, realizes the control to robot body.Teaching machine is for controlling machine
Human body carries out teaching campaign, and the motion profile for controlling robot body is close to solder joint to be detected, to obtain weldering to be detected
The approximate position coordinates of point.Robot body can move under industrial personal computer control close to solder joint to be detected after the completion of teaching
Designated position.As shown in Fig. 2, translation and rotation can be achieved by the combination of 6 axis in robot body.11 He of ultrasonic probe
Photographic device 4 is mounted on the mounting surface of robot body end effector, end effector and feeler arm (also referred to as wrist list
Member) it is connected, flexible by control feeler arm can make ultrasonic probe 11 be directed at solder joint to be detected.Machine described in the present embodiment
Device people 3 can be using the R-1000iA Series machine people of Japan's FA NUC company production, maximum radius 2230mm, maximum load
100kg, position error are not higher than 0.2mm.
As a kind of alternative embodiment, the ultrasonic detection device 1 includes: ultrasonic probe 11, transceiver module 12, mould
Number conversion module 13.The transceiver module 12 includes transmit circuit and receives circuit (being not drawn into figure), and the transmit circuit is used
Emit ultrasonic signal in the driving ultrasonic probe 11；The reception circuit is for received to the ultrasonic probe 11
Ultrasonic echo signal carries out transformation amplification；The analog-to-digital conversion module 13 is used for the analog signal for receiving circuit output
It is converted into digital signal.
This gives a kind of technical solutions of ultrasonic detection device 1.The structure and original of ultrasonic detection device 1
Reason and single base station radar are closely similar, mainly by 13 three parts group of ultrasonic probe 11, transceiver module 12 and analog-to-digital conversion module
At.Ultrasonic probe 11 (dual-mode antenna for being equivalent to radar), for transmitting and receiving ultrasonic signal.Transceiver module 12 is by sending out
Transmit-receive radio road and reception circuit composition (transmitter and receiver for being equivalent to radar), transmit circuit is for generating high-voltage pulse letter
Number, driving ultrasonic probe 11 generates ultrasonic signal；Circuit is received to carry out the small-signal that ultrasonic probe 11 receives
Transformation amplification, and amplified signal will be converted and be sent to analog-to-digital conversion module 13.Analog-to-digital conversion module 13 (is equivalent to the number of radar
According to capture card) analog signal inputted by reception circuit is converted into digital signal after controller 2 be sent to.
As a kind of alternative embodiment, the host computer 5 is used to handle by the image to solder joint to be detected,
Calculate ultrasonic probe 11 and solder joint to be detected distance, delta R, specifically include: to described image progress region of interesting extraction,
Denoising, edge detection, circle contour process of fitting treatment obtain the center position of solder joint circle contour to be detected；It carries out from pixel coordinate
It is the conversion to robot coordinate system, obtains coordinate of the central point in robot coordinate system；According to ultrasonic probe 11
Coordinate in robot coordinate system calculates ultrasonic probe can be obtained Δ R at a distance from the central point.
The present embodiment is related to image processing techniques.Firstly, carrying out region of interesting extraction, denoising, edge to described image
Detection, circle contour process of fitting treatment, obtain the center position of solder joint circle contour to be detected.In image procossing, from processed
Region to be treated is sketched the contours of in image in a manner of box, circle, ellipse, irregular polygon etc., referred to as area-of-interest mentions
It takes.The processing time can be reduced by carrying out processing in the region of interest, improve processing accuracy.Image denoising, edge detection, circle wheel
Exterior feature fitting etc. belongs to the image processing techniques of comparative maturity, is not introduced one by one specific method here.Then, with circle wheel
Position of the wide center position as solder joint to be detected, and the conversion from pixel coordinate system to robot coordinate system is carried out, it obtains
To coordinate of the central point in robot coordinate system.Since the center position obtained through image procossing is that central point exists
Relative position in image, it is therefore desirable to which coordinate of the central point in robot coordinate system is found out by coordinate transform.Robot
Coordinate system is also referred to as world coordinate system, and the origin of coordinate system is located at robot base center, includes six-freedom degree, three are edges
The freedom degree of three reference axis translation, three around the freedom degree for being the rotation of three reference axis.Finally, being existed according to ultrasonic probe 11
Coordinate in robot coordinate system asks it at a distance from the central point.
As a kind of alternative embodiment, the host computer is also used to by handling ultrasonic echo signal,
The quality for evaluating solder joint to be detected, specifically includes: host computer extracts the feature of the ultrasonic echo signal of solder joint to be detected
Parameter determines solder joint to be detected by the way that the characteristic parameter to be compared with the threshold value of the characteristic parameter of various quality solder joints
Quality.The threshold value carries out actually detected obtain by using solder joint sample of the ultrasonic detection device to various quality.
In the present embodiment, firstly, host computer is handled by the ultrasonic echo signal to solder joint to be detected,
Extract the characteristic parameter of echo-signal, such as echo amplitude, echo sounding；Then, host computer by the characteristic parameter with
The threshold value of the characteristic parameter of various quality solder joints is compared, and then judges the quality of solder joint to be detected.The threshold value is to pass through
Actually detected obtain is carried out using solder joint sample of the ultrasonic detection device to various quality.Solder joint sample can pass through manufacture
Weldment obtains.The quality of solder joint include it is qualified, impression is too deep, impression is excessively shallow, desoldering etc..
It is above-mentioned that only several specific embodiments in the present invention are illustrated, but can not be as protection model of the invention
Enclose, it is all according to the present invention in the equivalent change or modification made of design spirit or equal proportion zoom in or out, should all
Think to fall into protection scope of the present invention.
Claims (5)
1. a kind of quality of welding spot automatic checkout system characterized by comprising ultrasonic detection device, industrial personal computer, robot,
Photographic device, host computer；Industrial personal computer is used to control robot and drives the ultrasonic probe being mounted in robot and camera shooting
Device movement；Ultrasonic detection device is used under industrial personal computer control emit and received ultrasonic signal, and by the to be checked of output
The ultrasonic echo signal for surveying solder joint is sent to host computer through industrial personal computer；Photographic device is used to obtain the image of solder joint to be detected
Signal, and described image signal is sent to host computer through industrial personal computer；Host computer is used for by described image signal
It is handled, calculates the distance, delta R of ultrasonic probe and solder joint to be detected, and Δ R is sent to industrial personal computer, industrial personal computer controls machine
People drives ultrasonic probe to move a distance that size is Δ R to solder joint to be detected, and ultrasonic probe is made to be directed at weldering to be detected
Point；Host computer is also used to evaluate the quality of solder joint to be detected by handling ultrasonic echo signal.
2. quality of welding spot automatic checkout system according to claim 1, which is characterized in that the artificial six-shaft industrial of machine
Robot realizes translation and rotation, including robot body, electrical control cabinet and teaching machine by the combination of six axis；Machine
Human body's movement under teaching machine control can obtain the apparent position of solder joint to be detected；Ultrasonic probe and photographic device installation
On the mounting surface of robot body end effector.
3. quality of welding spot automatic checkout system according to claim 1, which is characterized in that the ultrasonic detection device packet
It includes: ultrasonic probe, transceiver module, analog-to-digital conversion module；The transceiver module includes transmit circuit and reception circuit, the hair
Transmit-receive radio road is for driving the ultrasonic probe transmitting ultrasonic signal；The reception circuit is for connecing the ultrasonic probe
The ultrasonic echo signal of receipts amplifies filtering；The analog-to-digital conversion module is used to believe the simulation for receiving circuit output
Number it is converted into digital signal.
4. quality of welding spot automatic checkout system according to claim 1, which is characterized in that the host computer is for leading to
It crosses and the picture signal of solder joint to be detected is handled, calculate the distance, delta R of ultrasonic probe and solder joint to be detected, it is specific to wrap
It includes:
Region of interesting extraction, denoising, edge detection, circle contour process of fitting treatment are carried out to described image, obtain solder joint to be detected
The center position of circle contour；The conversion from pixel coordinate system to robot coordinate system is carried out, obtains the central point in machine
Coordinate in people's coordinate system；Ultrasonic probe and the center are calculated according to coordinate of the ultrasonic probe in robot coordinate system
Δ R can be obtained in the distance of point.
5. quality of welding spot automatic checkout system according to claim 1, which is characterized in that the host computer is also used to
By handling ultrasonic echo signal, the quality of solder joint to be detected is evaluated, is specifically included:
Host computer extracts the characteristic parameter of the ultrasonic echo signal of solder joint to be detected, by by the characteristic parameter and respectively
The threshold value of the characteristic parameter of kind quality solder joint is compared, and determines the quality of solder joint to be detected；The threshold value is by using ultrasound
Wave detection device carries out actually detected obtain to the solder joint sample of various quality.
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| CN201710684921.8A CN109387569A (en) | 2017-08-11 | 2017-08-11 | A kind of quality of welding spot automatic checkout system |
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| CN201710684921.8A CN109387569A (en) | 2017-08-11 | 2017-08-11 | A kind of quality of welding spot automatic checkout system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110044920A (en) * | 2019-04-26 | 2019-07-23 | 中国科学院自动化研究所 | Wire-shaped workpieces solder joint weld quality prediction system and method |
| CN111830060A (en) * | 2020-07-15 | 2020-10-27 | 上汽通用五菱汽车股份有限公司 | White car body welding spot 3D calibration method, system and medium based on template matching |
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