CN110893525B - Method for identifying welding area of welding workpiece, computer device and computer readable storage medium - Google Patents
Method for identifying welding area of welding workpiece, computer device and computer readable storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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Abstract
The invention provides a method for identifying a welding area of a welding workpiece, a computer device and a computer readable storage medium, wherein the method comprises the steps of obtaining a height coordinate of the to-be-welded workpiece output by a profile scanner, obtaining a length coordinate and a width coordinate of the to-be-welded workpiece, and calculating a vector model of the to-be-welded workpiece according to the length coordinate, the width coordinate and the height coordinate of the to-be-welded workpiece; comparing the vector model with a plurality of preset models in a welding workpiece model library, and using the preset model with the highest similarity as a calculation model of the workpiece to be welded; and determining a region to be welded of the workpiece to be welded according to the calculation model, and calculating the motion track of the welding equipment. The invention also provides a computer device and a computer readable storage medium for realizing the method. The invention can weld the metal templates with different shapes and welding areas, and is particularly suitable for the production and welding of small-batch multi-variety metal templates.
Description
Technical Field
The invention relates to the technical field of intelligent manufacturing, in particular to a welding area identification method of a welding workpiece, a computer device and a computer readable storage medium for realizing the method.
Background
The construction industry uses aluminium template to carry out the construction in a large number, and current aluminium template is formed by bottom plate and polylith curb plate, baffle welding usually. If manual welding is used, on one hand, the welding quality cannot be guaranteed, and on the other hand, the manufacturing time of the aluminum template is long due to low manual welding efficiency, so that the processing efficiency of the template is influenced. Therefore, it is considered to use automated equipment to weld the aluminum forms, such as an automated welding machine.
The existing welding machines are used for welding workpieces with specific shapes, for example, the motion track of a welding gun is preset according to the shapes of the workpieces. After a welding workpiece is placed on a welding machine, the workpiece to be welded needs to be clamped and fixed by a fixing device, and a welding gun reciprocates on the workpiece according to a preset track and welds an area needing to be welded. However, this type of welding requires the shape and welding area of the workpiece to be welded to be determined in advance, and when the shape and welding area of the workpiece to be welded change, the trajectory of the movement of the welding gun needs to be reset. Since the movement track of the welding gun needs to be controlled by a preset program, once the shape of the workpiece to be welded or the welding area changes, reprogramming is needed, which brings inconvenience to welding. Because the shape of the aluminum template is more, many construction sites all need set up the aluminum template of specific shape according to actual need, this just leads to often adjusting the procedure of welding machine, is unfavorable for the automatic welding of many varieties of aluminum template of small batch.
In addition, the existing welding mode also needs to accurately clamp and fix the workpiece to be welded, and once the position of the workpiece to be welded in the welding machine deviates, the welding position is inaccurate, the welding is wrong, and even the workpiece to be welded is damaged. Because the surface of the aluminum template is smooth, the clamping piece of the welding machine does not accurately clamp the aluminum template, and the welding yield of the aluminum template is influenced.
Most existing welding machines with cameras can realize automatic correction functions, such as correcting the motion track of the welding equipment according to the captured images. However, these welding machines are not capable of automatically calculating the area to be welded on the welding workpiece, and further are not capable of automatically generating the motion trajectory of the welding equipment according to the calculated welding area, so that the motion trajectory of the welding equipment needs to be preset, and thus the requirement of automatic production of small-batch aluminum templates cannot be met.
Disclosure of Invention
The invention mainly aims to provide a welding area identification method which is beneficial to producing welding workpieces aiming at small-batch and multi-variety aluminum templates.
Another object of the present invention is to provide a computer device for implementing the above method for identifying a welding area of a welding workpiece.
It is still another object of the present invention to provide a computer-readable storage medium for implementing the above-described welding region identification method of a welding workpiece.
In order to achieve the main object of the present invention, the method for identifying the welding area of the welding workpiece provided by the present invention comprises obtaining the height coordinate of the to-be-welded workpiece output by the profile scanner, obtaining the length coordinate and the width coordinate of the to-be-welded workpiece, calculating the to-be-welded area of the to-be-welded workpiece according to the length coordinate, the width coordinate and the height coordinate of the to-be-welded workpiece, and calculating the movement track of the welding device; wherein calculating a region to be welded of the workpiece to be welded comprises: calculating a vector model of the workpiece to be welded according to the length coordinate, the width coordinate and the height coordinate of the workpiece to be welded, wherein the vector model is a three-dimensional vector model or a vector model combining a two-dimensional vector model and a corresponding third-dimensional coordinate; comparing the vector model with a plurality of preset models in a welding workpiece model library, and using the preset model with the highest similarity as a calculation model of the workpiece to be welded; determining a region to be welded of a workpiece to be welded according to the calculation model; or determining the characteristic points of the workpieces to be welded according to the length coordinate, the width coordinate and the height coordinate of the workpieces to be welded, and determining the areas to be welded according to the positions of the characteristic points and preset rules.
According to the scheme, when the aluminum template is welded, after the height coordinate of the workpiece to be welded is obtained through the profile scanner, the length coordinate and the width coordinate of the workpiece to be welded are also obtained, and therefore the vector model of the workpiece to be welded is calculated, and the aluminum template in the specific shape can be welded. Because the calculation model of the workpiece to be welded is determined according to the vector model before welding, the movement track of the welding equipment does not need to be programmed aiming at the aluminum template before welding, and the welding workload is greatly reduced. In addition, aiming at the condition of producing the metal templates in small batch, the production cost of the metal templates can be greatly reduced.
Preferably, the width coordinates of the workpiece to be welded are output by a profile scanner; acquiring the length coordinates of the workpieces to be welded includes: and acquiring the length coordinate of the workpiece to be welded output by the driving assembly, wherein the driving assembly is used for driving the contour scanner to move.
Therefore, the height coordinate and the width coordinate of the workpiece to be welded are obtained by using the profile scanner, and the length coordinate of the workpiece to be welded is obtained by using the driving assembly, so that the three-dimensional coordinate of the workpiece to be welded can be obtained by using only one profile scanner and one driving assembly, equipment such as a color camera or a depth camera is not required, the number of the equipment used by the welding machine is small, and the production cost of the welding machine can be reduced.
The driving component comprises a stepping motor or a servo motor; acquiring the length coordinate of the workpiece to be welded output by the driving assembly comprises: and calculating the movement distance of the profile scanner, and calculating the length coordinate of the workpiece to be welded according to the movement distance of the profile scanner.
Therefore, the length coordinate of the workpiece to be welded is calculated by calculating the movement distance of the stepping motor or the servo motor, so that the calculation of the length coordinate is more accurate, and the vector model of the workpiece to be welded is favorably and accurately calculated.
Further, the calculating of the length coordinate of the to-be-welded workpiece from the moving distance of the profile scanner may include: and taking a preset point of the workpiece to be welded or a preset point on a welding machine as an original point of the length coordinate, and calculating the length coordinate of the workpiece to be welded by taking the original point as a reference.
Therefore, the edge of the workpiece to be welded, particularly the vertex area of the right angle is identified, the original point of the length coordinate is rapidly determined, or a certain preset point on the welding machine is directly used as the original point, so that the original point of the length coordinate of the workpiece to be welded is determined.
Optionally, the obtaining the length coordinate and the width coordinate of the workpiece to be welded includes: and acquiring a color image output by a color camera, and calibrating the length coordinate and the width coordinate of the workpiece to be welded according to the color image.
It can be seen that the color image of the workpiece to be welded is shot by the color camera, and the plane coordinates, i.e., the length coordinates and the width coordinates, of the workpiece to be welded are calculated through the color image, so that the length coordinates of the workpiece to be welded can be calculated without using a driving assembly, and the calculation of the vector model of the workpiece to be welded can also be realized.
The method further comprises the steps of calibrating the length coordinate and the width coordinate of the workpiece to be welded according to the color image, then obtaining the width correction coordinate output by the contour scanner and the length correction coordinate output by the driving assembly, and correcting the width coordinate and the length coordinate of the workpiece to be welded by using the width correction coordinate and the length correction coordinate.
Therefore, the length coordinate and the width coordinate of the color image calculation are corrected through the correction coordinate output by the contour scanner and the driving assembly, the accuracy of vector model calculation can be improved, the accurate calculation model can be obtained, and the accuracy of welding area calculation is further ensured.
Further, the step of using the preset model with the highest similarity as the calculation model of the workpiece to be welded includes: the method comprises the steps of obtaining a plurality of characteristic areas of a vector model, and obtaining one preset model containing the most characteristic areas from the plurality of preset models.
Therefore, after the vector model is calculated, the characteristic region in the vector model is identified, for example, the characteristic points in the vector model are identified, the characteristic region is determined according to the characteristic points, and then the calculation model of the workpiece to be welded, namely the model for calculating the welding region, is determined according to the characteristic region, so that the accuracy of calculation of the welding region can be ensured.
In a further aspect, if the number of the preset models including the largest number of feature areas is more than two, an instruction for confirming the calculation model is received, and one of the preset models is determined to be the calculation model according to the received instruction.
Therefore, under the condition that a plurality of initially selected calculation models exist, prompt information can be sent, and an operator selects one calculation model from the plurality of initially selected calculation models to serve as a finally determined calculation model, so that calculation errors of a welding area caused by selection errors of the calculation models can be avoided.
In order to achieve the above-mentioned another object, the present invention provides a computer device comprising a processor and a memory, wherein the memory stores a computer program, and the computer program is executed by the processor to implement the steps of the method for identifying a welding area of a welding workpiece.
To achieve the above-mentioned further object, the present invention provides a computer-readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the above-mentioned welding region identification method for a welding workpiece.
Drawings
Fig. 1 is a block diagram of a welding machine to which a first embodiment of a welding area identifying method of welding workpieces according to the present invention is applied.
Fig. 2 is a structural view of a welding machine in which a first embodiment of the welding area recognition method of the present invention for welding workpieces is applied after hiding a case.
Fig. 3 is a structural view of a to-be-welded workpiece to which a first embodiment of a welding area identification method of welding workpieces according to the present invention is applied.
Fig. 4 is a flowchart of a first embodiment of a welding area identification method of welding a workpiece to which the present invention is applied.
Fig. 5 is a schematic diagram of a contour scanner for acquiring height coordinates and width coordinates of a workpiece to be welded according to the first embodiment of the method for identifying a welding area of the workpiece to be welded according to the present invention.
Fig. 6 is a flowchart of a second embodiment of a welding area identification method of welding a workpiece to which the present invention is applied.
The invention is further explained with reference to the drawings and the embodiments.
Detailed Description
The method for identifying the welding area of the welding workpiece is applied to a welding machine, and particularly the welding machine is a device for welding an aluminum template. Preferably, the welding machine is provided with a processor and a memory, the memory having stored thereon a computer program, the processor implementing the welding area identification method of the welding workpiece by executing the computer program.
First embodiment of a method for identifying a welding area of a welding workpiece:
welding machine for realizing the present embodiment as shown in fig. 1 and 2, the welding machine has a base 10 on which a transmission assembly 11 is disposed, in the present embodiment, the transmission assembly 11 includes a plurality of cylindrical rollers. Of course, the transfer assembly 11 may also be implemented using a belt or a chain. The aluminum mold plate 30 to be welded may be placed on the transfer assembly 11. Preferably, can set up many cylinders of drive such as motor and rotate to wait that the aluminium template automatic conveying of welded is to the welding station on, and transmit to the discharge station after the welding finishes.
A welding gun 15 as a welding device is arranged above the base 10, a shell 13 is arranged outside the welding gun 15, and preferably, part of the shell 13 is made of transparent material, for example, acrylic material, so as to facilitate the observation of the welding condition from the outside. A profile scanner 20 is provided in the housing 13, and the profile scanner 20 measures a height coordinate and a width coordinate of the aluminum mold 30 photographed to be welded. For example, the profile scanner 20 emits fan-shaped laser beams, which are incident on the surface of the workpiece to be welded and reflected to the profile scanner 20, and the profile scanner 20 can calculate the distance between the laser beams and the workpiece to be welded by calculating the time when the laser beams are reflected. Since the laser beam emitted by the profile scanner 20 is fan-shaped, it is possible to measure the height coordinate and the width coordinate of the workpiece to be welded on the surface on which the fan is located. In this embodiment, the welding gun 15 is driven by a robot arm, so that the welding gun 15 can move relative to the base 10.
The profile scanner 20 is driven by a driving component, for example, the profile scanner 20 is fixed on a carriage 16, the carriage 16 is driven by the driving component, in this embodiment, the driving component may include a stepping motor or a servo motor, and further includes a controller for controlling the stepping motor or the servo motor to work, and the carriage 16 is driven by the stepping motor or the servo motor to move, so as to drive the profile scanner 20 to move. Therefore, the profile scanner 20 can move relative to the base 10 along the transport direction of the aluminum mold plate 30.
Referring to fig. 3, the aluminum mold plate 30 to be welded has a rectangular bottom plate 32, side plates 33 are disposed around the bottom plate 32, and four side plates 33 and the bottom plate 32 form a base 31 of the aluminum mold plate 30. Generally, the connection area between the bottom plate 32 and the side plate 33 is the area to be welded, for example, the area 36 is the connection area between the bottom plate 32 and the side plate 33.
The base 31 is further provided with a partition 34 and a partition 35, wherein the partition 34 is a partition extending along the longitudinal direction of the base 32, and the partition 35 is a partition extending along the width direction of the base 32, so that the partition 34 and the partition 35 are perpendicular to each other. Since the partition 34 and the partition 35 are not fixed to the bottom plate 32 or the side plate 33 by the fixing member, the connection region between the partition 34 and the bottom plate 32 and the connection region between the partition 35 and the bottom plate 32 are also regions to be welded, for example, the region 37 is the connection region between the partition 35 and the bottom plate 32 and the side plate 33.
However, since the shapes of the partition plates 34 and 35 are not fixed, and the shapes of the connection regions between the partition plates 34 and the side plates 33 and the bottom plate 32 are not fixed in consideration of the connection reliability, the shapes and positions of the welding regions on the aluminum mold plate 30 are not fixed, and thus, the welding requirements of the aluminum mold plates 30 of various types and shapes cannot be satisfied by using one set of computer program.
Therefore, the present embodiment provides a method for performing precise welding on aluminum templates with different shapes. The present embodiment is to identify a welding area based on an image of a workpiece to be welded, and calculate coordinates of the welding area, thereby calculating a movement locus of the welding apparatus, and further controlling the movement of the welding apparatus.
Before a workpiece to be welded is welded, firstly, the workpiece to be welded is placed on the transmission assembly and is transmitted into the shell through the transmission assembly, and the workpiece to be welded is clamped and fixed by using the clamp, so that the situation that the workpiece to be welded moves in the welding process is avoided. At this point, the carriage is slid to one end of the housing, for example, at the end of the housing near the entrance to the workpiece to be welded, so that the profile scanner scans the entire aluminum template as the carriage is moved toward the other end.
Referring to fig. 4, after the workpiece to be welded is clamped and fixed, step S1 is executed, and the profile scanner is driven by the driving assembly to move over the workpiece to be welded. After the aluminum template to be welded is clamped and fixed on the base, the driving assembly drives the sliding frame to slowly move from one end of the shell to the other end, and the height coordinate and the width coordinate of the workpiece to be welded are continuously acquired in the moving process. In the present embodiment, the height coordinate of the workpiece to be welded is the coordinate in the z-axis direction shown in fig. 3, the width coordinate is the coordinate in the y-axis direction shown in fig. 3, and the length coordinate is the coordinate in the x-axis direction shown in fig. 3.
Referring to fig. 5, the profile scanner 20 emits a plurality of laser beams, the plurality of laser beams are emitted in a fan-shaped divergent manner, different laser beams are incident on the surface of the aluminum mold 30 along the y-axis direction, and since each laser beam is emitted at a preset angle, the distance between each position on the surface of the aluminum mold 30 to be welded and the profile scanner 20 can be calculated according to the angle and time of the received laser beam, so that the height coordinate and the width coordinate of the aluminum mold 30 on the yOz plane are calculated, that is, step S2 is performed.
Next, step S3 is executed, the carriage is driven by the driving component to move along the x-axis direction, and the contour scanner will continuously acquire the height coordinate and the width coordinate of the workpiece to be welded at different positions on the x-axis, and at the same time, acquire the length coordinate formed by the driving component. Taking a stepping motor as an example, since the stepping motor is controlled by the controller and the step length of each step of the stepping motor is preset, the position of the current contour scanner on the x axis is calculated by acquiring data such as the step number, the step length and the like of the stepping motor. If the position of the contour scanner is a servo motor, the position of the contour scanner on the x axis can be calculated according to the movement time and the movement speed of the servo motor.
When calculating the length coordinate of the workpiece to be welded, a preset point of the workpiece to be welded may be used as the origin of the length coordinate, for example, a certain feature point on an aluminum template may be used as the origin of the length coordinate. Of course, a certain preset point on the welding machine can be used as the origin of the length coordinate, and the movement track of the welding equipment such as the welding gun can be calculated more accurately by taking the welding machine as the basis.
Then, step S4 is performed to calculate a vector model, e.g., a three-dimensional vector model, of the workpiece to be welded, based on the acquired length coordinate, width coordinate, and height coordinate of the workpiece to be welded, and specifically, since three-dimensional coordinates of a plurality of points of the upper surface of the workpiece to be welded are calculated, the shape of the upper surface of the workpiece to be welded can be calculated based on the three-dimensional coordinates of the points. Since the shape of the upper surface of the workpiece to be welded is a solid shape, the shape of the upper surface can be used as a three-dimensional vector model of the workpiece to be welded. Of course, step S4 does not necessarily have to calculate a three-dimensional vector model of the workpiece to be welded, but the calculated vector model may also be a vector model in which a two-dimensional vector model and a corresponding third-dimensional coordinate are combined, and the two-dimensional vector model may be a vector model composed of a length coordinate and a width coordinate.
In fact, the lower surface of the aluminum template is generally a plane, and the place to be welded is on the upper surface of the workpiece to be welded, so that the requirement of searching the area to be welded can be met only by acquiring the shape of the upper surface of the workpiece to be welded.
Then, step S5 is executed to search a preset model with the highest similarity from the welding workpiece model library as a calculation model of the workpiece to be welded. In this embodiment, a welding workpiece model library is set in advance, and a large number of aluminum template models are stored in the model library, and therefore, the most similar one of the plurality of preset aluminum template models is selected as a calculation model of a workpiece to be welded.
Specifically, a feature region of the three-dimensional vector model is obtained, where the feature region may be a region including feature points, and the feature points may be points of corner regions of the aluminum template, such as intersection points between a partition plate, a side plate, and a bottom plate on the aluminum template, or intersection points between two adjacent side plates, where the feature point is a center, and a region within a radius of one point may be used as the feature region.
After a plurality of characteristic areas of the three-dimensional vector model are obtained, traversing each preset model in the welding workpiece model library, calculating the number of the same characteristic areas in each preset model and the three-dimensional vector model, finally calculating the preset model containing the most characteristic areas, and using the preset model containing the most characteristic areas as the calculation model of the workpiece to be welded.
Of course, if the number of the preset models having the largest number of feature areas is more than two, a prompt message may be sent, for example, a prompt message may be sent on a display screen of the welding machine to prompt that a plurality of similar preset models are found, and prompt the user to select one of the plurality of similar preset models as the calculation model.
Next, step S6 is performed to determine a welding area of the workpieces to be welded according to the calculation model, and calculate a movement locus of the welding apparatus according to the welding area. Since the calculation model is one of the preset models, the welding areas of the preset models can be marked together when the preset models are set, so that the welding areas can be determined quickly. After the welding area is determined, the motion track of the welding equipment can be rapidly calculated. The movement tracks of welding equipment such as a welding gun and the like can be calculated and obtained by using the conventional welding gun track calculation method according to the three-dimensional coordinates of the welding area, and are not repeated.
Then, step S7 is executed to output a control command to the welding equipment to operate the welding equipment. After the movement track of the welding gun is calculated in step S6, the mechanical arm drives the welding gun to move according to the calculated movement track, for example, according to the three-dimensional coordinates of the welding area, the movement path of the welding gun passing through the three-dimensional coordinates is calculated, including controlling the translation and rotation of the welding gun in the directions of the x-axis, the y-axis, and the z-axis. And after the welding gun moves according to the calculated motion trail, a welding seam is formed in the area needing to be welded, so that the welding of the aluminum template is realized.
Finally, step S8 is executed to determine whether the welding of the workpieces to be welded is completed, for example, whether all the areas of the aluminum mold plate to be welded have been welded, if so, the welding operation is completed, and the welded aluminum mold plate is transported out of the housing through the transport assembly. If the welding is not finished, the process returns to step S7 to continue to obtain the control command and drive the welding gun to move until all the welding areas are welded.
If the length of the work piece to be welded is long, the work piece to be welded may be divided into a plurality of sections, each of which is subjected to the above-described operation once. In addition, the width of the profile scanner is often limited, if the aluminum template is wide, a plurality of profile scanners can be used for scanning at the same time, or the aluminum template is divided into a plurality of areas in the width direction, the profile scanner scans one area at a time, and after the scanning of the areas is finished, the coordinate data of the areas are spliced, so that the complete width coordinate data of the workpiece to be welded is obtained.
Second embodiment of welding area recognition method of welded work:
compared with the first embodiment, the present embodiment adds the use of one color camera for capturing a color image of the aluminum template, and uses the color image to calculate the length coordinate and the width coordinate of the aluminum template. Of course, the length coordinate and the width coordinate obtained by the image recognition of the color camera may also be corrected using the profile scanner. The color camera may be fixed to the base of the welder so that the color camera does not move relative to the base.
Referring to fig. 6, after the workpiece to be welded is clamped and fixed, step S11 is performed to capture a color image of the workpiece to be welded using a color camera. The RGB image is acquired, for example, by shooting with a common color camera. Preferably, the color image shot by the color camera should cover the whole aluminum template to be welded, which is beneficial to accurately calibrating the plane coordinates, namely the length coordinate and the width coordinate, of the aluminum template through the color image. When calibrating the plane coordinates of the aluminum template, a preset point of the aluminum template or a preset point of the welding machine can be used as an origin of a plane coordinate system, and the plane coordinates of the aluminum template are calibrated on the basis of the origin.
Then, step S12 is executed to acquire the width correction coordinates and the height coordinates of the to-be-welded workpiece output by the profile scanner. Since the profile scanner can acquire the height coordinate and the width coordinate of the workpiece to be welded on the yOz plane, the width coordinate acquired by the profile scanner is used as the width correction coordinate, and the width coordinate of the workpiece to be welded obtained by recognizing the color image can be corrected, so that the accuracy of calculating the width coordinate of the workpiece to be welded can be improved.
Next, step S13 is executed to acquire the length correction coordinates of the to-be-welded workpiece output by the drive assembly. As in the first embodiment, the driving unit may output coordinates of the workpiece to be welded in the x-axis direction, and the length coordinates of the workpiece to be welded obtained by recognizing the color image are corrected using the length coordinates output by the driving unit as length correction coordinates, so that the accuracy of calculation of the length coordinates of the workpiece to be welded can be improved.
Preferably, before acquiring the three-dimensional coordinates of the workpieces to be welded, whether the workpieces to be welded are symmetrically arranged workpieces or not can be preliminarily judged through a color image. Since the arrangement S11 has acquired a color image of the workpieces to be welded, it can be determined from the color image whether the workpieces to be welded are symmetrically arranged workpieces. For example, the workpieces to be welded are symmetrical along the y-axis direction. If the workpieces to be welded are symmetrically arranged workpieces, only the three-dimensional coordinates of the welding area of one of the symmetric areas need to be acquired. For example, if the workpieces to be welded are symmetrically arranged along the y-axis, the workpieces to be welded are divided into two symmetrical regions along the y-axis, only the three-dimensional coordinates of the welding region in one of the symmetrical regions are acquired, and the three-dimensional coordinates of the other symmetrical region are generated in a mirror image manner in a symmetrical manner.
Optionally, the color image may be further identified, and an approximate position of a to-be-welded region of the to-be-welded workpiece is determined, so that the contour scanner only scans the to-be-welded region, and does not scan the to-be-welded region, thereby obtaining a height coordinate of the to-be-welded region more accurately, and avoiding a problem of large calculation amount and low scanning efficiency caused by complete scanning of the entire workpiece by the contour scanner.
Then, step S14 is performed to calculate a three-dimensional vector model of the workpiece to be welded based on the obtained length coordinate, width coordinate and height coordinate of the workpiece to be welded, and specifically, since the three-dimensional coordinates of a plurality of points of the upper surface of the workpiece to be welded are calculated, the shape of the upper surface of the workpiece to be welded can be calculated based on the three-dimensional coordinates of the points.
Then, step S15 is executed to search a preset model with the highest similarity from the welding workpiece model library as a calculation model of the workpiece to be welded. Specifically, a feature region of the three-dimensional vector model is obtained, the feature region may be a region including feature points, the feature points may be points in a corner region of the aluminum template, for example, intersection points between a partition plate, a side plate, and a bottom plate on the aluminum template, or intersection points between two adjacent side plates, the feature points are taken as centers, and a region within a radius of one point may be taken as the feature region.
After a plurality of characteristic areas of the three-dimensional vector model are obtained, traversing each preset model in the welding workpiece model library, calculating the number of the same characteristic areas in each preset model and the three-dimensional vector model, finally calculating the preset model containing the largest number of characteristic areas, and using the preset model containing the largest number of characteristic areas as the calculation model of the workpiece to be welded.
Of course, if the number of the preset models with the largest number of the included feature areas is more than two, a prompt message may be sent, for example, a prompt message is sent on a display screen of the welding machine, a prompt that a plurality of similar preset models are found is sent, and a user is prompted to select one of the plurality of similar preset models as the calculation model.
Next, step S16 is performed, a welding area of the workpiece to be welded is determined according to the calculation model, and a movement locus of the welding apparatus is calculated according to the welding area. Then, step S17 is executed to output a control command to the welding device, so as to drive the welding device to operate. After the movement track of the welding gun is calculated in step S16, the mechanical arm drives the welding gun to move according to the calculated movement track, for example, according to the three-dimensional coordinates of the welding area, the movement path of the welding gun passing through the three-dimensional coordinates is calculated, including controlling the translation and rotation of the welding gun in the directions of the x-axis, the y-axis, and the z-axis. And after the welding gun moves according to the calculated movement track, forming a welding seam in the area needing to be welded, and realizing the welding of the aluminum template.
Finally, step S18 is executed to determine whether the welding of the workpieces to be welded is completed, for example, whether all the areas of the aluminum mold plate to be welded have been welded, if so, the welding operation is completed, and the welded aluminum mold plate is transported out of the housing through the transport assembly. If the welding is not finished, the process returns to step S17 to continue to obtain the control command and drive the welding gun to move until all the welding areas are welded.
Therefore, in the embodiment, after the three-dimensional coordinates of the workpiece to be welded are obtained through the profile scanner and the three-dimensional vector model is generated, a calculation model is obtained through comparison with the preset model in the model library, and the welding area of the workpiece to be welded is determined by using the calculation model, so that the motion track of the welding equipment can be rapidly calculated, the motion track programming of the welding equipment is not required to be performed on the aluminum template of a specific model before welding, and the welding cost of the aluminum template is greatly reduced.
Welding area identification method of a welding workpiece in the third embodiment:
the first embodiment and the second embodiment both determine the welding area of the workpiece to be welded by establishing a vector model of the workpiece to be welded, and the present embodiment is different from the first embodiment in that the present embodiment does not establish a vector model of the region to be welded, but calculates the feature point of the workpiece to be welded after acquiring the length coordinate, the width coordinate, and the height coordinate of the workpiece to be welded, and determines the region to be welded according to the position of the feature point by a preset rule.
The method of calculating the characteristic points of the piece to be welded is known and will not be described in detail. After the characteristic points are determined, the welding area on the workpiece to be welded may be determined according to a preset rule, for example, the preset rule may be: the two ends of the to-be-welded workpiece in the length direction need to be welded completely, the intersection of the two side faces of the partition board and the side wall needs to be welded completely, or a welding seam with a preset width needs to be welded in the middle of the to-be-welded workpiece, and the other side plates do not need to be welded. Therefore, after the positions of the characteristic points of the workpieces to be welded are determined, the positions of the two ends of the workpieces to be welded, the intersection positions of the side plates and the partition plates, and the like can be determined according to the positions of the characteristic points, wherein the positions are areas to be welded, and the movement track of the welding equipment can be calculated by acquiring the coordinates of the welding areas.
Other steps of this embodiment are the same as those of the first embodiment, and are not described again.
In addition, the above embodiments have been described with reference to aluminum die plates as examples, and in actual use, the workpieces to be welded may be metal die plates made of steel, aluminum alloy, or the like.
Therefore, the welding machine provided by the invention is equipment capable of automatically welding the metal template, and provides a foundation for realizing intelligent manufacturing of the metal template.
The embodiment of the computer device comprises:
the computer device of the embodiment is a single chip microcomputer arranged in the welding machine, and comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, and when the processor executes the computer program, the steps of the welding area identification method of the welding workpiece are realized.
For example, a computer program may be partitioned into one or more modules that are stored in a memory and executed by a processor to implement the modules of the present invention. One or more of the modules may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of the computer program in the terminal device.
The Processor may be a Central Processing Unit (CPU), or may be other general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the terminal device and various interfaces and lines connecting the various parts of the whole terminal device.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the terminal device by running or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, etc. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
A computer-readable storage medium:
the computer program stored in the computer device may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the processes in the method according to the above embodiments of the present invention may be implemented by a computer program, which may be stored in a computer readable storage medium and used by a processor to implement the steps of the method for identifying the welding area of the welding workpiece.
Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
Finally, it should be emphasized that the present invention is not limited to the above-mentioned embodiments, such as the change of the number of preset models set in the welding workpiece model library, or the change of the calculation method of the motion trajectory of the welding equipment, and these changes should be included in the protection scope of the claims of the present invention.
Claims (7)
1. The welding area identification method of the welding workpiece is characterized in that the welding workpiece is an aluminum template for a building, and the method comprises the following steps:
acquiring a height coordinate of a to-be-welded workpiece output by a profile scanner, and acquiring a length coordinate and a width coordinate of the to-be-welded workpiece: acquiring a color image output by a color camera, calibrating a length coordinate and a width coordinate of the workpiece to be welded according to the color image, acquiring a width correction coordinate output by a contour scanner and a length correction coordinate output by a driving assembly, and correcting the width coordinate and the length coordinate of the workpiece to be welded by using the width correction coordinate and the length correction coordinate;
calculating a to-be-welded area of the to-be-welded workpiece according to the length coordinate, the width coordinate and the height coordinate of the to-be-welded workpiece, and calculating a motion track of welding equipment;
wherein calculating the regions to be welded of the workpieces to be welded comprises: judging the approximate position of a to-be-welded area of the to-be-welded workpiece according to the color image of the to-be-welded workpiece, wherein the contour scanner only scans the approximate position of the to-be-welded area and does not scan the area which does not need to be welded; and the number of the first and second electrodes,
Calculating a vector model of the workpiece to be welded according to the length coordinate, the width coordinate and the height coordinate of the workpiece to be welded, wherein the vector model is a three-dimensional vector model or a vector model combining a two-dimensional vector model and a corresponding third-dimensional coordinate; comparing the vector model with a plurality of preset models in a welding workpiece model library, and using the preset model with the highest similarity as a calculation model of the workpiece to be welded: acquiring a plurality of characteristic areas of the vector model, acquiring a preset model containing the most characteristic areas from the plurality of preset models, and marking the information of the welding area on the calculation model; determining a region to be welded of the workpiece to be welded according to the calculation model;
or determining the characteristic point of the workpiece to be welded according to the length coordinate, the width coordinate and the height coordinate of the workpiece to be welded, and determining the region to be welded according to the position of the characteristic point by a preset rule.
2. The welding region identification method of a welded workpiece according to claim 1, characterized in that:
the width coordinate of the workpiece to be welded is output by a profile scanner;
acquiring the length coordinate of the workpiece to be welded includes: and acquiring the length coordinate of the workpiece to be welded output by a driving assembly, wherein the driving assembly drives the profile scanner to move.
3. The welding area recognition method of the welding workpiece according to claim 2, characterized in that:
the driving component comprises a stepping motor or a servo motor;
acquiring the length coordinate of the workpiece to be welded output by the driving assembly comprises: and calculating the movement distance of the profile scanner, and calculating the length coordinate of the workpiece to be welded according to the movement distance of the profile scanner.
4. The welding region identification method of a welded workpiece according to claim 3, characterized in that:
calculating the length coordinate of the workpiece to be welded according to the movement distance of the profile scanner includes: and taking a preset point of the workpiece to be welded or a preset point on a welding machine as an original point of the length coordinate, and calculating the length coordinate of the workpiece to be welded by taking the original point as a reference.
5. The welding region identification method of a welded workpiece according to claim 1, characterized in that:
and if the number of the preset models containing the most characteristic regions is more than two, receiving an instruction for confirming the calculation model, and determining one of the preset models as the calculation model according to the received instruction.
6. Computer arrangement, characterized in that it comprises a processor and a memory, said memory storing a computer program which, when being executed by the processor, carries out the individual steps of the method for identifying a welding area of a welding workpiece according to any one of claims 1 to 5.
7. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when executed by a processor, implements the steps of a method of identifying a welding zone of a welding workpiece as claimed in any one of claims 1 to 5.
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| CN116871727A (en) * | 2023-06-29 | 2023-10-13 | 海波重型工程科技股份有限公司 | Welding method, device, equipment and storage medium for partition plate unit welding robot |
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