CN110560827A - Material welding method, welding equipment and storage medium - Google Patents
Material welding method, welding equipment and storage medium Download PDFInfo
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- CN110560827A CN110560827A CN201910813269.4A CN201910813269A CN110560827A CN 110560827 A CN110560827 A CN 110560827A CN 201910813269 A CN201910813269 A CN 201910813269A CN 110560827 A CN110560827 A CN 110560827A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
- B23K3/08—Auxiliary devices therefor
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Abstract
the invention discloses a welding method, which comprises the following steps: after the materials move to the welding acupuncture points, acquiring corresponding photographing positions according to the welding acupuncture points; moving a photographing component of the welding equipment to the photographing position, and obtaining a material picture photographed by the photographing component; acquiring the welding position of the material according to the material picture; and welding the materials at the welding position. The invention also discloses a welding device and a computer readable storage medium. The material is photographed through the photographing assembly, the material picture is obtained, the welding position of the material is obtained according to the material picture, accurate positioning of the material is achieved, and the position of the center point of the welding pattern is correspondingly adjusted, so that the defective rate of welding products is reduced, and the yield of the welding products is improved.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a material welding method, material welding equipment and a storage medium.
Background
At present, in a welding system of a power battery, the power battery module is generally welded at a fixed position, the welding position cannot be accurately positioned according to the actual positions of different power battery modules, and the requirement of high precision is difficult to meet.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
disclosure of Invention
the embodiment of the invention mainly aims to provide a material welding method, and aims to solve the technical problem that in the prior art, the welding position of a material is welded by a fixed position, and the welding position cannot be accurately positioned according to the actual position of the material.
in order to solve the above problem, an embodiment of the present invention provides a material welding method, including the following steps:
after the materials move to the welding acupuncture points, acquiring corresponding photographing positions according to the welding acupuncture points;
Moving a photographing component of the welding equipment to the photographing position, and obtaining a material picture photographed by the photographing component;
acquiring the welding position of the material according to the material picture;
and welding the materials at the welding position.
Optionally, the step of obtaining the welding position of the material according to the material picture includes:
Acquiring the position of a welding characteristic point in the material picture;
And determining the welding position of the material according to the photographing position and the position of the welding characteristic point.
Optionally, the step of determining the welding position of the material according to the photographing position and the position of the welding feature point includes:
Acquiring a compensation parameter;
And determining the welding position of the material according to the compensation parameter, the photographing position and the position of the welding characteristic point.
Optionally, after the material moves to the welding point, before the step of obtaining the corresponding photographing position according to the welding point, the method further includes:
Acquiring the welding acupuncture points set by a user;
And setting a photographing position corresponding to the welding acupuncture point.
Optionally, before the step of moving the photographing component of the welding device to the photographing position, the method further includes:
Acquiring a height measurement position corresponding to the welding acupuncture point, moving a height measurement instrument of the welding equipment to the height measurement position, and controlling the welding equipment to test the levelness of a material welding plane;
and when the levelness of the material welding plane meets the preset levelness, executing the step of moving the photographing component of the welding equipment to the photographing position.
Optionally, after the step of obtaining a height measurement position corresponding to the welding acupoint, moving a height measurement instrument of the welding device to the height measurement position, and controlling the welding device to test the levelness of the material welding plane, the method further includes:
when the levelness of the material welding plane does not meet the preset levelness, moving out the material; or the like, or, alternatively,
And when the levelness of the material welding plane does not meet the preset levelness, adjusting a laser galvanometer of the welding equipment so as to enable the welding plane to coincide with the material welding plane.
Optionally, after the step of welding the materials at the welding position, the method further includes:
And moving the welded materials out of the welding acupuncture points through a moving shaft of the welding equipment.
In addition, in order to solve the above problems, an embodiment of the present invention further provides a welding apparatus, which includes one or more welding stations, where one or more welding points are disposed on the welding station, a photographing assembly, a processor, a memory, and a material welding program stored on the memory and capable of being executed on the processor, where the material welding program is executed by the processor to implement the steps of the material welding method as described above.
an embodiment of the present invention further provides a computer-readable storage medium, where a material welding program is stored on the computer-readable storage medium, and when the material welding program is executed by a processor, the method for welding materials as described above is implemented.
According to the material welding method provided by the embodiment of the invention, the material is photographed through the photographing component to obtain the material picture, the welding position of the material is obtained according to the material picture, the accurate positioning of the material is realized, and the position of the central point of the welding pattern is correspondingly adjusted, so that the defective rate of welding products is reduced, and the yield of the welding products is improved.
drawings
Fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a material welding method according to the present invention;
FIG. 3 is a schematic flow chart of a material welding method according to a second embodiment of the present invention;
fig. 4 is a schematic flow chart of a material welding method according to a third embodiment of the invention.
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
The main solution of the embodiment of the invention is as follows: after the materials move to the welding acupuncture points, acquiring corresponding photographing positions according to the welding acupuncture points; moving a photographing component of the welding equipment to the photographing position, and obtaining a material picture photographed by the photographing component; acquiring the welding position of the material according to the material picture; and welding the materials at the welding position.
Because the welding of the material adopts fixed position welding among the prior art, can not carry out the technical problem of accurate location to the welding position according to the actual position of material.
The embodiment of the invention provides a solution, which has the beneficial effects that a photographing component is used for photographing materials to obtain material pictures, the welding positions of the materials are obtained according to the material pictures, the accurate positioning of the materials is realized, and the positions of the central points of welding patterns are correspondingly adjusted, so that the defective rate of welding products is reduced, and the yield of the welding products is improved.
as shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
The execution main body of the embodiment of the invention is welding equipment.
As shown in fig. 1, the terminal device may include: a processor 1001, such as a CPU, a communication bus 1002, a memory 1003, a user interface 1004. The communication bus 1002 is used for realizing connection communication among the components. The memory 1003 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1003 may alternatively be a storage device separate from the processor 1001. The user interface 1004 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1004 may also include a standard wired interface, a wireless interface.
Those skilled in the art will appreciate that the configuration of the welding apparatus shown in fig. 1 is not intended to be limiting, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
as shown in fig. 1, the user interface 1004 is mainly used for connecting a client (user side) and performing data communication with the client; memory 1003, which is a computer storage medium, may include an operating system and a material welding program, and processor 1001 may be configured to invoke the material welding program stored in memory 1003 and perform the following steps:
after the materials move to the welding acupuncture points, acquiring corresponding photographing positions according to the welding acupuncture points;
Moving a photographing component of the welding equipment to the photographing position, and obtaining a material picture photographed by the photographing component;
acquiring the welding position of the material according to the material picture;
And welding the materials at the welding position.
Further, the processor 1001 may be configured to call the material welding program stored in the memory 1003, and perform the following steps:
Acquiring the position of a welding characteristic point in the material picture;
and determining the welding position of the material according to the photographing position and the position of the welding characteristic point.
further, the processor 1001 may be configured to call the material welding program stored in the memory 1003, and perform the following steps:
Acquiring a compensation parameter;
And determining the welding position of the material according to the compensation parameter, the photographing position and the position of the welding characteristic point.
Further, the processor 1001 may be configured to call the material welding program stored in the memory 1003, and perform the following steps:
Acquiring the welding acupuncture points set by a user;
And setting a photographing position corresponding to the welding acupuncture point.
Further, the processor 1001 may be configured to call the material welding program stored in the memory 1003, and perform the following steps:
Acquiring a height measurement position corresponding to the welding acupuncture point, moving a height measurement instrument of the welding equipment to the height measurement position, and controlling the welding equipment to test the levelness of a material welding plane;
and when the levelness of the material welding plane meets the preset levelness, executing the step of moving the photographing component of the welding equipment to the photographing position.
Further, the processor 1001 may be configured to call the material welding program stored in the memory 1003, and perform the following steps:
when the levelness of the material welding plane does not meet the preset levelness, moving out the material; or the like, or, alternatively,
And when the levelness of the material welding plane does not meet the preset levelness, adjusting a laser galvanometer of the welding equipment so as to enable the welding plane to coincide with the material welding plane.
further, the processor 1001 may be configured to call the material welding program stored in the memory 1003, and perform the following steps:
And moving the welded materials out of the welding acupuncture points through a moving shaft of the welding equipment.
based on the structure of the terminal, a first embodiment of the invention is provided, and referring to fig. 2, fig. 2 is a schematic flow diagram of the first embodiment of the material welding method of the invention, and the material welding method includes the following steps:
Step S10, after the materials move to the welding acupuncture points, acquiring corresponding photographing positions according to the welding acupuncture points;
In this embodiment, the executing body is a welding apparatus, and the welding apparatus executes a welding operation by computer program control. For example, 6 welding stations are arranged in one welding device, and 8 welding points are arranged on each welding station, and therefore, the number of other welding stations arranged on the welding device and the number of other welding points arranged on the welding stations belong to the protection scope of the embodiment of the present invention.
it should be noted that, in a welding apparatus, the position of each welding station and the welding point on the welding station is fixed, and therefore, the position of the material on each welding point is also fixed, but because there may be a certain deviation between the material and the standard material, the welding point of the material needs to be more accurately positioned, so as to improve the yield of the product and reduce the defective products.
The welding equipment is provided with a moving shaft for moving the materials into the welding acupuncture points and moving the materials out of the welding acupuncture points.
after the material moves to the welding acupuncture point, before the step of obtaining the corresponding position of shooing according to the welding acupuncture point, still include:
Acquiring the welding acupuncture points set by a user;
And setting a photographing position corresponding to the welding acupuncture point.
before welding equipment performs welding operation, a user needs to set welding settings, such as the number of welding stations, the number of welding holes, the number of lines of the welding holes, the settings of a galvanometer and the like. After the welding setting is set, processing parameters such as a welding station serial number, a welding point serial number, a photographing position coordinate, photographing calibration, a welding coordinate and the like need to be set in advance, and certainly, if the welding parameters are not set, default setting or previous setting can be used, so that the operation is simpler. The main purpose of using the photographing calibration is to correspond and unify the coordinate system of the photographed image and the welding position coordinate system.
After the parameter setting is completed, the moving axis needs to be operated to the zero point for initialization, i.e. return to zero. The purpose of the zero returning operation is to provide a position reference zero point for the welding acupuncture point photographing, the welding station moving and the height measurement of the height measuring instrument.
after the zero-returning operation, the welding equipment controls the motion shaft to move the material into the welding acupuncture point. It should be noted that the material is a component to be welded, such as a power battery module.
a photographing position is preset for each welding acupoint in the welding equipment, and the coordinates of the photographing position can be obtained as long as the job number of the welding acupoint is obtained.
step S20, moving a photographing component of the welding equipment to the photographing position, and obtaining a material picture photographed by the photographing component;
Because the materials have certain differences and move into the welding acupuncture points, certain deviation may occur in position, and the welding points of the materials cannot be ensured to be overlapped with the center of the preset welding pattern exactly, so that the materials need to be positioned more accurately in a certain mode. The preset welding pattern refers to a track of the laser galvanometer scanning the surface of the material according to the pattern.
the welding equipment is further provided with a photographing component, such as a Charge Coupled Device (CCD) camera, wherein a lens of the photographing component faces the material, and a photographed image is used for positioning a laser welding position. And after the corresponding photographing position on the welding acupuncture point is obtained, the photographing component is moved to the photographing position. The CCD camera has a plurality of capacitors arranged in order to sense light and convert image pixels into digital signals. The photographing component photographs the material to obtain a material picture, and it should be noted that the photographing component can photograph the material once or for many times, such as three times, and then take the average value of the coordinates of the characteristic points of the material, so as to improve the positioning accuracy.
Step S30, acquiring the welding position of the material according to the material picture;
And processing the material picture according to the material picture acquired by the photographing component, acquiring the position of a welding characteristic point in the material picture through an image processing function, wherein the characteristic point is the central position of a welding point or a welding graph for welding the material, and the coordinate position of the welding characteristic point in an image system can be obtained. And obtaining the coordinates of the materials in the welding equipment, namely the welding position coordinates according to the conversion relation between the image coordinate system and the welding equipment coordinate system.
and step S40, welding the materials at the welding position.
The welding device is also provided with a laser galvanometer for providing a laser beam. The laser galvanometer consists of an X-Y optical scanning head, an electronic driving amplifier and an optical reflecting mirror, the position of one point is determined at one moment under the control of X, Y two motors, and the positions of different moments are controlled by scanning frequency to achieve the transformation of the whole graph, so that materials are welded according to a preset welding graph. And irradiating the welding position of the material by laser beams, and performing laser welding on the material by laser heating.
After the welding position of the material is obtained, the position of the central point of the welding graph is correspondingly adjusted, the laser galvanometer is opened, laser beams emitted by the laser galvanometer are controlled to irradiate the welding plane of the material, and the material assembly is welded through laser heating.
If one welding device is provided with 6 welding stations, each welding station is provided with 8 welding acupuncture points. The 6 welding stations are arranged in two rows and perform welding in a clockwise direction from the upper left. Among the 8 welding acupuncture points, two rows are arranged in the default state, and the welding is performed in the clockwise direction from the upper left. Such a welding sequence may improve the efficiency of the welding.
after step S40, the method further includes:
and moving the welded materials out of the welding acupuncture points through a moving shaft of the welding equipment.
it should be noted that when a plurality of welding stations are arranged in the welding equipment and each welding station is provided with a plurality of welding points, materials on each welding point can be accurately positioned firstly and then welded, and materials on all welding points can be accurately positioned firstly and then welded one by one.
After the laser galvanometer welds the material, after the time of predetermineeing, the material after will welding the completion shifts out current welding acupuncture point through the last motion axis of welding equipment to accomplish once welding, then prepare next welding, just so can guarantee that the material can weld in an orderly manner, thereby improve welding efficiency.
in this embodiment, shoot the material through the subassembly of shooing, acquire the material picture, acquire the welding position of material according to the material picture, realize the accurate location to the material, correspondingly adjust the position of welding figure central point to reduce the defective percentage of welding product, improve the yield of welding product.
referring to fig. 3, fig. 3 is a schematic flow chart of a material welding method according to a second embodiment of the present invention, and based on the first embodiment, after step S20, the method further includes:
Step S31, obtaining the position of the welding characteristic point in the material picture;
After the material picture is obtained, the position of the welding characteristic point in the material picture is obtained through an image processing technology, and then the coordinate of the welding characteristic point in an image coordinate system is obtained.
And step S32, determining the welding position of the material according to the photographing position and the position of the welding characteristic point.
According to the photographing position, the position of the welding characteristic point and the conversion relation between the image coordinate system and the welding equipment coordinate system, the position of the center point of a welding pattern adopted by the material is adjusted, so that the laser galvanometer accurately irradiates a laser beam on the welding position to weld the material, and the deviation or distortion of the welding position caused by the fact that the material moves into a welding point is avoided.
determining the position of the material weld further comprises the steps of:
acquiring a compensation parameter;
and determining the welding position of the material according to the compensation parameter, the photographing position and the position of the welding characteristic point.
because welding can not be one hundred percent accurate, certain deviation exists, in order to improve the efficiency that the laser beam shines at corresponding welding position, welding equipment allows certain error, consequently, can set for certain compensation parameter. And (4) taking the compensation parameters into consideration, and determining the welding position of the material by integrating the photographing position and the position of the welding characteristic point, so that the position of the central point of the welding image is dynamically adjusted.
In this embodiment, according to the position of the welding characteristic point and the photographing position, the welding position of the material is determined, and accordingly the central point of the laser irradiation position or the central point of the welding pattern is dynamically adjusted, so that the welding position is accurately positioned, the qualification rate of the welding product is further ensured, and the benefit is increased.
Referring to fig. 4, fig. 4 is a schematic flow chart of a third embodiment of the material welding method of the present invention, and based on the first embodiment or the second embodiment, after step S10, the method further includes:
step S50, acquiring a height measurement position corresponding to the welding acupuncture point, moving a height measurement instrument of the welding equipment to the height measurement position, and controlling the welding equipment to test the levelness of a material welding plane;
When the processing parameters are set, the height measurement position corresponding to each welding acupuncture point can be correspondingly set, so that the corresponding height measurement position can be correspondingly obtained when the station number of the welding acupuncture point is obtained.
and a height indicator is also arranged in the welding equipment and used for measuring distance. In the testing process, the height measuring instrument is moved to a height measuring position corresponding to the welding acupuncture point, and the levelness of the plane where the materials are welded is tested, namely the welding plane. The levelness is substantially the flatness of the measured welding plane, and because the surface of the material is not absolutely flat in the process of processing the material, the deviation of the concave-convex height relative to the ideal plane indicates the flatness, and the smaller the numerical value is, the better the flatness is.
and S60, when the levelness of the material welding plane meets the preset levelness, moving the photographing component of the welding equipment to the photographing position, and acquiring a material picture photographed by the photographing component.
the levelness of material can influence the welding effect, if the material levelness is too uneven, unsmooth height is high, leads to the welding insecure easily to influence the quality of welding product. Therefore, a preset level is preset, and if the levelness of the material welding plane meets the preset level, subsequent steps are executed again, and the photographing component is moved to the photographing position.
when the levelness of the material does not meet the preset level, executing the following steps:
when the levelness of the material welding plane does not meet the preset levelness, moving out the material; or the like, or, alternatively,
And when the levelness of the material welding plane does not meet the preset levelness, adjusting a laser galvanometer of the welding equipment so as to enable the welding plane to coincide with the material welding plane.
When the levelness of the material welding plane is too uneven, and the height of the unevenness is seriously higher than the preset height, the material to be processed in the current welding acupuncture point is not suitable for continuing welding treatment, and the current material can be moved out of the welding acupuncture point.
when the levelness of the material welding plane is higher than the preset levelness, the degree of the height of the unevenness is not too serious, and the laser galvanometer of the welding equipment can be correspondingly adjusted, so that the plane of the welding laser focus is coincided with the material welding plane, and the welding success rate is improved.
in this embodiment, through the levelness of test material welding plane, screen the material that is not conform to the welding levelness to this guarantees the quality of welding product, improves the yield of welding product.
In addition, the invention also provides welding equipment which comprises one or more welding stations, wherein one or more welding acupuncture points are arranged on each welding station, the photographing component, the processor, the memory and the material welding program which is stored on the memory and can be run on the processor are arranged on the welding stations, and when the material welding program is executed by the processor, the content of the material welding method embodiment is realized.
The present invention also provides a computer readable storage medium having stored thereon a material welding program which, when executed by a processor, implements the contents of the material welding method embodiments described above.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, and includes several instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A material welding method is applied to welding equipment, one or more welding stations are arranged on the welding equipment, and one or more welding acupuncture points are arranged on the welding stations, and the material welding method is characterized by comprising the following steps:
After the materials move to the welding acupuncture points, acquiring corresponding photographing positions according to the welding acupuncture points;
moving a photographing component of the welding equipment to the photographing position, and obtaining a material picture photographed by the photographing component;
acquiring the welding position of the material according to the material picture;
and welding the materials at the welding position.
2. the material welding method according to claim 1, wherein the step of obtaining the welding position of the material according to the material picture comprises:
acquiring the position of a welding characteristic point in the material picture;
And determining the welding position of the material according to the photographing position and the position of the welding characteristic point.
3. The material welding method according to claim 2, wherein the step of determining the welding position of the material according to the photographing position and the position of the welding feature point comprises the steps of:
acquiring a compensation parameter;
and determining the welding position of the material according to the compensation parameter, the photographing position and the position of the welding characteristic point.
4. The material welding method according to claim 1, wherein before the step of acquiring the corresponding photographing position according to the welding acupuncture point after the material is moved to the welding acupuncture point, the method further comprises:
Acquiring the welding acupuncture points set by a user;
and setting a photographing position corresponding to the welding acupuncture point.
5. The material welding method of claim 1, wherein prior to the step of moving the camera assembly of the welding device to the camera position, further comprising:
acquiring a height measurement position corresponding to the welding acupuncture point, moving a height measurement instrument of the welding equipment to the height measurement position, and controlling the welding equipment to test the levelness of a material welding plane;
And when the levelness of the material welding plane meets the preset levelness, executing the step of moving the photographing component of the welding equipment to the photographing position.
6. The material welding method of claim 5, wherein after the steps of obtaining a height measurement position corresponding to the welding acupoint, moving a height gauge of the welding equipment to the height measurement position, and controlling the welding equipment to test levelness of the welding plane of the material, the method further comprises:
When the levelness of the material welding plane does not meet the preset levelness, moving out the material; or the like, or, alternatively,
and when the levelness of the material welding plane does not meet the preset levelness, adjusting a laser galvanometer of the welding equipment so as to enable the welding plane to coincide with the material welding plane.
7. the material welding method of claim 1, wherein said step of welding said material at said welding location is followed by the further step of:
And moving the welded materials out of the welding acupuncture points through a moving shaft of the welding equipment.
8. a welding apparatus comprising one or more welding stations, one or more welding points disposed on the welding stations, a camera assembly, a processor, a memory, and a material welding program stored on the memory and executable on the processor, wherein the material welding program when executed by the processor implements the steps of the material welding method as recited in any one of claims 1 to 7.
9. a computer-readable storage medium, having a material welding program stored thereon, which when executed by a processor implements the steps of the material welding method as claimed in any one of claims 1 to 7.
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| CN107790879A (en) * | 2017-11-29 | 2018-03-13 | 东莞市力星激光科技有限公司 | A kind of double cover plate of power battery laser-beam welding machine and welding method |
| CN109175814A (en) * | 2018-10-31 | 2019-01-11 | 昆山华恒焊接股份有限公司 | Welding method, device and computer readable storage medium |
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