CN112372169A - All-attitude corrugated plate position-finding system and method based on multi-sensing fusion - Google Patents
All-attitude corrugated plate position-finding system and method based on multi-sensing fusion Download PDFInfo
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- CN112372169A CN112372169A CN202011215617.7A CN202011215617A CN112372169A CN 112372169 A CN112372169 A CN 112372169A CN 202011215617 A CN202011215617 A CN 202011215617A CN 112372169 A CN112372169 A CN 112372169A
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
Abstract
The invention discloses a multi-sensing fusion-based full-attitude corrugated plate position finding system and a position finding method, which belong to the technical field of automatic welding and comprise the following steps: the horizontal sliding wall of the cross sliding frame is of a cavity structure; the cylinder is arranged in the cavity of the horizontal sliding wall; the cylinder is fixedly connected with the inner cavity of the horizontal sliding wall; the sensing device comprises a multi-sensing sensor for touch sense and vortex vision and a touch sense and vision fusion controller; the touch visual fusion controller is connected with a piston of the cylinder; the tactile and eddy vision multi-sensing sensor comprises a tactile sensor and an eddy vision sensor; a protective cover is sleeved outside the tactile sensor; the sliding sleeve is slidably sleeved outside the horizontal sliding wall; the large cantilever is fixedly connected to the lower end of the sliding sleeve; the other end of the large cantilever is provided with a circular guide rail disc; and the welding gun is connected with the circular guide rail disc in an adjustable distance mode. The invention realizes the automatic welding of the corrugated plate container; the automatic position finding welding of the full-position corrugated plate of the container can be realized by independently finding the position in the welding process.
Description
Technical Field
The invention belongs to the technical field of automatic welding, and particularly relates to a full-attitude corrugated plate position-finding system and a position-finding method based on multi-sensing fusion.
Background
Because the buckled plate has better mechanical properties, the present container production field needs a large amount of buckled plates, and almost all links of production of container all need the welding, and the welding automation level of buckled plate is low, so the production of container has become the intensive industry of labour and has needed a large amount of welders, and the abominable human cost of operational environment is high, so realize that buckled plate welding automation is the problem that needs to solve urgently.
In addition, the volume of container is general all bigger, if carry out the great and cost of the complete location degree of difficulty of frock clamp for the welding to the container, if freely place the container then the buckled plate welding seam has just become full position appearance buckled plate welding, just need independently seek the position to the automatic weld of buckled plate.
Therefore, there is an urgent need for a full-position corrugated plate position-finding system and position-finding method that can automatically weld corrugated plates and can independently find positions in the welding process.
Disclosure of Invention
The invention aims to provide a full-position corrugated plate position-finding system and a position-finding method, which can realize automatic welding of corrugated plates and can perform automatic position finding in the welding process. The invention adopts the following technical scheme:
a system of locating is sought to full position appearance buckled plate based on multi-perception fuses includes:
the horizontal sliding wall of the cross sliding frame is of a cavity structure;
the air cylinder is arranged in a cavity of the horizontal sliding wall; the cylinder barrel of the cylinder is fixedly connected with the inner cavity of the horizontal sliding wall;
the sensing device comprises a multi-sensing sensor for touch sense and vortex vision and a touch sense and vision fusion controller; the touch visual fusion controller is fixedly connected with a piston of the cylinder; the touch and eddy vision multi-sensing sensor comprises a touch sensor and an eddy vision sensor, and the touch sensor is connected with the touch vision fusion controller through an adaptive rotating hinge; a protective cover is sleeved on the outer side of the touch sensor, one end of the protective cover is fixedly connected with the self-adaptive rotating hinge, and the other end of the protective cover is connected with the vortex visual sensor;
the tactile perception device and the eddy current visual perception device are electrically connected with the tactile visual fusion controller;
the sliding sleeve is slidably sleeved outside the horizontal sliding wall;
the large cantilever is fixedly connected to the lower end of the sliding sleeve; the other end of the large cantilever is provided with a circular guide rail disc;
and the welding gun is connected with the circular guide rail disc in an adjustable distance mode.
Further, the touch sensor comprises 2 contact sensing probes, and the contact sensing probes are connected with the touch visual fusion controller through an adaptive rotation hinge.
Furthermore, the self-adaptive rotating hinge drives the contact sensing probe to adjust the sensing angle through a miniature servo motor; the contact sensing probe is spherical and can be retracted into the protective cover; the touch vision fusion controller controls the contraction of the contact sensing probe according to the positioning requirement; the contact sensing probe comprises a plurality of piezoelectric sensors, and the piezoelectric sensors are uniformly distributed on the spherical surface of the contact sensing probe in a spherical array mode.
Further, the eddy current visual sensor comprises 360 evenly indexed circular arrays of eddy current rangefinders; each eddy current rangefinder calibrates position information.
Further, a linear guide rail is arranged between the welding gun and the circular guide rail disc, one end of the linear guide rail is fixedly connected with the circular guide rail disc, and the other end of the linear guide rail is provided with a small cantilever; one end of the small cantilever is connected with the linear guide rail through a miniature hinge, and the other end of the small cantilever is telescopically connected with the welding gun.
A position searching method of the full-position corrugated plate position searching system comprises the following steps:
s10, before welding, when the touch and eddy vision multi-sensing fusion controller receives an instruction of needing to independently seek, controlling the micro servo motor to rotate the two contact sensing probes, so that a sensing angle is formed between the two contact sensing probes, and the final sensing angle is 90 degrees; the cylinder drives the touch and eddy vision multi-sensing sensor to move towards the direction of a workpiece to carry out first position finding, and when one of the touch sensing heads touches the vertical plate of the corrugated plate with full pose, the touch sensing probe is pressed, and then the piezoelectric sensor is internally polarized to generate a current signal; the touch and eddy vision multi-sensing fusion controller sends out an instruction after receiving a current signal, and the emergency stop actuating mechanism moves in two directions, so that the position of one plate of the corrugated plate is found;
s20, the haptic and eddy current vision multi-perception fusion controller judges an instruction, sends an instruction to an eddy current vision sensor in another haptic and eddy current vision multi-perception sensor which is not in contact with a workpiece, 360 circular array eddy current distance meters on the eddy current vision sensor start to work to obtain distance data h between the eddy current vision sensor and a transverse plate, sends the distance data h to the haptic and eddy current vision multi-perception fusion controller, the haptic and eddy current vision multi-perception fusion controller sends an instruction to a servo motor in a cross sliding frame, the servo motor drives the cross sliding frame to move downwards h, at the moment, the two haptic and eddy current vision multi-perception sensors are in contact with the two plates of a corrugated plate and form an angle of 90 degrees, and the spatial position of a welding line is determined;
s30, after the two contact sensing probes find the position of the welding seam space, high level signals of the two contact sensing probes are sent to the touch and eddy current vision multi-sensing fusion controller, and the touch and eddy current vision multi-sensing fusion controller controls the micro motor to drive the self-adaptive rotating hinge; after rotating, the vortex vision multi-perception sensor which is contacted with the workpiece at the back rotates 45 degrees towards the vortex vision multi-perception sensor which is contacted with the workpiece at the first,at the moment, the eddy current vision multi-sensing sensor of the rear contact workpiece faces the welding seam; after the angle adjustment is finished, the vortex vision multi-sensing fusion controller generates signals to a vortex vision sensor, and 360 uniformly-indexed circular array vortex distance measuring instruments of the vortex vision sensor start to work to obtain 360 distance data; wherein, position information has all been markd to each vortex distancer in 360 vortex distancers, through the position information of markeing, is S to 360 distance signal reference numbers that vortex distancer obtained1,S2...S360；
S40, data { S1,S2...S360Sending the touch sense and vortex vision multi-sense fusion controller to the touch sense and vortex vision multi-sense fusion controller, and processing data by the vortex vision multi-sense fusion controller; the touch and eddy vision multi-sensing fusion controller controls the welding gun to move to the position of the welding line according to the data processing result, and the position finding of the corrugated plate is completed.
Further, the method for processing data by the eddy current vision multi-perception fusion controller in step S40 includes the following steps:
s41, enabling the turbine range finders arranged in a circular array to face weld joints of corrugated plates at 45-degree included angles in space, dividing 360 array turbine range finders into two parts through a symmetry axis, and enabling distances measured by the range finders with the same phase difference values on two sides of the symmetry axis to be equal, wherein the two laser range finders on the symmetry axis are just at positions of the orthographic weld joints, and one of the two laser range finders facing the weld joints acquires data as a maximum value;
s42, setting S for maximum value extractionmFor data S stored in a storage unit of a haptic and eddy current visual multi-perception fusion controller1,S2...S360Sorting by using a bubble sorting algorithm, firstly comparing the 1 st data with the 2 nd data, exchanging the two data if the data are in a reverse order, then comparing the 2 nd data with the 3 rd data, exchanging the data if the k th data is equal to the k +1 th data, and repeating the steps until the 359 th data and the 360 th data are compared, and arranging the value with the largest distance to the last bit through the processPlacing; extracting the value of the last position as Sm；
S43, according to the even scale of 360 distance meters, the method can be known as SmThe data of the other opposite welding line with 180 degrees phase difference on the same axis is Sm±180Extracting SmAnd Sm±180；
S44, marking a point of the laser range finder m on the weld mark as p, marking a point of the laser range finder (m +/-180) on the weld mark as p ', the distance between a pair of range finders passing through the center of a circle of the circular array laser range finder as d, marking the point p of the two range finders on the weld, and forming a plane m (m +/-180) pp ' by the two laser range finders opposite to the weld and the marked points p and p ';
s45, calculating the rotating angle and the advancing distance of the eddy current vision multi-perception sensor adjusted to the optimal welding attitude; wherein, the number m and the number (m +/-180) of the distance measuring instrument are on a straight line passing through the center of a circle, the straight line is marked as m (m +/-180), a straight line intersection straight line mp parallel to the line pp ' is made on a plane m (m +/-180) pp ' passing through the point (m +/-180), and the marking intersection point is m ';
the point m (m ± 180) m' may be configured as a right-angled triangle, with the side mm ═ Sm-Sm±180The m (m + -180) ═ d edge is determined by an inverse trigonometric function
Calculating the angle of an angle m (m +/-180) m ', making a straight line which is perpendicular to pp' on a plane m (m +/-180) pp 'at a crossing point (m +/-180), wherein the crossing point marked on the straight line pp' is p ', the crossing point of m (m +/-180) m' + < m '(m +/-180) p' -m ^ m '(m +/-180) p' + < p '(m +/-180) p' can know the angle m (m +/-180) m '+ < p' (m +/-180) p ', and calculating the straight line (m +/-180) p' -S ^ S '-p' through a trigonometric functionm±180cos[∠p’(m±180)p”]The angle m (m +/-180) m' is the angle required to be adjusted when the tactile sense and eddy current vision multi-sense sensor is adjusted to the optimal welding gun posture;
and S46, determining an attitude diagram of the eddy current vision multi-sensing sensor and the welding seam after the angle is adjusted, wherein pp 'is d, pm is the distance from the eddy current vision multi-sensing sensor to the center of the welding seam, pm is equal to the length of p' (m +/-180), and after the data are calculated by the touch and eddy current vision multi-sensing fusion controller, the welding gun is controlled to move to the position of the welding seam.
The invention has the beneficial effects that:
the invention provides a full-position corrugated plate locating system and method based on the fusion of touch sense and eddy current vision multi-perception, which realizes the automatic welding of corrugated plate containers; meanwhile, autonomous locating can be carried out in the welding process, automatic locating welding of the full-position corrugated plate of the container is achieved, and welding efficiency of the container is improved.
Drawings
FIG. 1 is a three-dimensional schematic diagram of the overall structure and initial seeking according to the present invention
FIG. 2 is a two-dimensional schematic diagram of the overall structure and initial seek position of the present invention
FIG. 3 is a schematic diagram of the second seek operation of the present invention
FIG. 4 is a diagram of a piezoelectric sensor touch sensing circuit
FIG. 5 is a geometric relationship diagram of the characteristic point laser and the weld after data extraction
FIG. 6 is a geometric relationship diagram of the laser of the feature point and the weld joint after three times of position finding
Wherein, 1, corrugated plate workpieces; 2. a contact sensing probe; 3. a tactile sensor; 4. an eddy current visual sensor; 5. a pneumatic control valve; 6. a protective cover; 7. a self-adaptive rotating hinge; 8. a haptic visual fusion controller; 9. a piston; 10. a cylinder; 11. a cross carriage; 12. a sliding sleeve; 13. a large cantilever; 14. a circular guide plate; 15. a slider; 16. a linear guide rail; 17. a miniature hinge; 18. a welding gun; 19. a small cantilever.
Detailed Description
Example 1
A system of locating is sought to full position appearance buckled plate based on multi-perception fuses includes: a cross sliding frame 11, an air cylinder 10, a sensing device, a touch sensor 3, a sliding sleeve 12, a large cantilever 13 and a welding gun 18.
The cross slide frame 11, the cross slide frame 11 includes horizontal slide wall and vertical slide wall, and the horizontal slide wall can move along the vertical slide wall. Wherein, the horizontal sliding wall of the cross sliding frame 11 is a cavity structure; a servo motor for driving the horizontal sliding wall to move up and down along the vertical sliding wall is arranged in the cross sliding frame.
The cylinder 10 is arranged in a cavity of the horizontal sliding wall; the cylinder barrel of the cylinder 10 is fixedly connected with the inner cavity of the horizontal sliding wall; the piston of the cylinder 10 can extend or retract along the cavity of the horizontal sliding wall.
The perception device comprises a multi-perception sensor of touch sense and vortex vision and a touch sense vision fusion controller 8; the touch sense and vision fusion controller 8 is fixedly connected with a piston 9 of a cylinder 10; the tactile and eddy vision multi-sensing sensor comprises a tactile sensor 3 and an eddy vision sensor 4, wherein the tactile sensor 3 is connected with a tactile vision fusion controller 8 through a self-adaptive rotating hinge 7; a protective cover 6 is sleeved outside the touch sensor 3, one end of the protective cover 6 is fixedly connected with a self-adaptive rotating hinge 7, and the other end of the protective cover 6 is connected with the vortex visual sensor 4; the tactile sensation perceptron 3 and the eddy current visual sensation perceptron 4 are electrically connected with the tactile visual fusion controller 8.
The touch sensor 3 comprises 2 contact sensing probes 2, and the contact sensing probes 2 are connected with a touch visual fusion controller 8 through self-adaptive rotating hinges 7. The contact sensing probe 2 is used for sensing contact of the corrugated plate workpiece 1.
The self-adaptive rotating hinge 7 drives the contact sensing probe 2 to adjust the sensing angle through a micro servo motor; the contact sensing probe 2 is spherical, the contact sensing probe 2 is fixedly connected through a pneumatic rod self-adaptive rotating hinge 7, and the contact sensing probe 2 can be retracted into a protective cover 6; the touch sense and vision fusion controller 8 controls the contraction of the contact sensing probe 2 according to the positioning requirement; the contact sensing probe 2 comprises a plurality of piezoelectric sensors which are uniformly distributed on the spherical surface of the contact sensing probe 2 in a spherical array mode.
In other embodiments, a pneumatic control valve 5 is disposed between the vortex visual sensor 4 and the protective sleeve 6, and the pneumatic control valve 5 is electrically connected with the tactile visual fusion controller 8 for controlling the expansion and contraction of the pneumatic rod to realize the contraction of the contact sensing probe 2.
The eddy current visual sensor 4 comprises 360 eddy current distance meters arranged in a uniformly-indexed circular array; each eddy current rangefinder calibrates position information.
The sliding sleeve 12 is slidably sleeved outside the horizontal sliding wall; in this embodiment, a slide way is disposed outside the horizontal slide wall, and a slide groove matched with the slide way is disposed in the slide sleeve 12.
The large cantilever 13, the large cantilever 13 is fixedly connected to the lower end of the sliding sleeve 12; the other end of the large cantilever 13 is provided with a circular guide rail disc 14; the welding torch 18 is connected to the circular guide plate 14 in a distance-adjustable manner.
In the embodiment, a slider 15 is arranged at one end of the circular guide rail disc 14 far away from the large cantilever 13, and a linear guide rail 16 is arranged at the side of the slider 15 far away from the circle center of the circular guide rail disc 14; one end of a small cantilever 19 is connected with the linear guide rail 16 in a sliding way through a miniature hinge 17, and the other end is fixedly connected with a welding gun 18; the welding gun 18 is fixedly connected to the bottom end of the small cantilever 19.
In other embodiments, the small cantilever 19 may be a telescopic structure for adjusting the relative distance between the welding gun 18 and the straightening rail 16.
In this embodiment, the eddy current visual sensor 4 is an eddy current displacement sensor.
Example 2
A method for locating using the system of embodiment 1, comprising the steps of:
s10, before welding, when the touch and eddy vision multi-sensing fusion controller receives an instruction of needing to independently seek, controlling the micro servo motor to rotate the two contact sensing probes, so that a sensing angle is formed between the two contact sensing probes, and the final sensing angle is 90 degrees; the cylinder drives the touch and eddy vision multi-sensing sensor to move towards the direction of a workpiece to carry out first position finding, and when one of the touch sensing heads touches the vertical plate of the corrugated plate with full pose, the touch sensing probe is pressed, and then the piezoelectric sensor is internally polarized to generate a current signal; the contact probe is connected with a detection circuit, the detection circuit is shown in figure 3, and the detection circuit is composed of a piezoelectric sensor, a driving power supply, a potentiometer, a resistor and a comparator. The potentiometer provides a lower reference level for a pin 2 of the comparator, after a contact sensing touch probe is pressed, the piezoelectric sensor is internally polarized, the generated output voltage is higher than the reference level, the output (pin 3) of the comparator is at a high level, the touch and eddy vision multi-sensing fusion controller receives a current signal and then sends an instruction, the execution mechanism is suddenly stopped to move in two directions, and the position of one corrugated plate is found at the moment;
s20, the haptic and eddy current vision multi-perception fusion controller judges an instruction, sends an instruction to an eddy current vision sensor in another haptic and eddy current vision multi-perception sensor which is not in contact with a workpiece, the eddy current vision sensor is pneumatically opened, 360 circular array eddy current distance meters on the eddy current vision sensor start to work to obtain distance data h between the eddy current vision sensor and a transverse plate, the distance data h is sent to the haptic and eddy current vision multi-perception fusion controller, the haptic and eddy current vision multi-perception fusion controller sends an instruction to a servo motor in a cross sliding frame, the servo motor drives the cross sliding frame to move downwards h, at the moment, the two haptic and eddy current vision multi-perception sensors are in contact with the positions of two corrugated plates, an angle of 90 degrees is formed, and the spatial position of a welding seam is determined;
s30, after the two contact sensing probes find the position of the welding seam space, high level signals of the two contact probes are sent to a touch and eddy current vision multi-sensing fusion controller, and the touch and eddy current vision multi-sensing fusion controller controls a micro motor to drive a self-adaptive rotating hinge; after the rotation, the vortex vision multi-perception sensor which is contacted with the workpiece later rotates 45 degrees towards the direction of the vortex vision multi-perception sensor which is contacted with the workpiece first, and at the moment, the vortex vision multi-perception sensor which is contacted with the workpiece later is directly opposite to the welding seam; after the angle adjustment is completed, the vortex vision multi-sensing fusion controller generates signals to the vortex vision sensor, and the 360 uniformly-indexed circular array vortex distance measuring instruments of the vortex vision sensor start to work to obtain 360 distance data; wherein, position information has all been markd to each vortex distancer in 360 vortex distancers, through the position information of markeing, is S to 360 distance signal reference numbers that vortex distancer obtained1,S2...S360；
S40, data { S1,S2...S360Sending the data to a touch and vortex vision multi-perception fusion controllerThe controller processes the data; the data processing method of the eddy current vision multi-perception fusion controller comprises the following steps:
s41, turbine distance meters arranged in a circular array face a corrugated plate welding line at an included angle of 45 degrees in space, 360 array turbine distance meters are divided into two parts through a symmetry axis, the distances measured by the distance meters with the same phase difference values on the two sides of the symmetry axis are equal, wherein the two laser distance meters on the symmetry axis are just at the positions of the normal welding line, and one of the two laser distance meters facing the welding line has the maximum value of the collected data;
s42, setting S for maximum value extractionmFor data S stored in a storage unit of a haptic and eddy current visual multi-perception fusion controller1,S2...S360Sorting by using a bubble sorting algorithm, firstly comparing the 1 st data with the 2 nd data, exchanging the two data if the data are in a reverse order, then comparing the 2 nd data with the 3 rd data, exchanging the data if the kth data is equal to the (k + 1) th data, and repeating the steps until the 359 th data and the 360 th data are compared, and arranging the value with the largest distance to the last position by the process; extracting the value of the last position as Sm；
S43, according to the even scale of 360 distance meters, the method can be known as SmThe data of the other opposite welding line with 180 degrees phase difference on the same axis is Sm±180Extracting SmAnd Sm±180；
S44, marking a point of the laser range finder m on the weld mark as p, marking a point of the laser range finder (m +/-180) on the weld mark as p ', the distance between a pair of range finders passing through the center of a circle of the circular array laser range finder as d, marking the point p of the two range finders on the weld, and forming a plane m (m +/-180) pp ' by the two laser range finders opposite to the weld and the marked points p and p ';
s45, calculating the rotating angle and the advancing distance of the eddy current vision multi-perception sensor adjusted to the optimal welding attitude; wherein, the number m and the number (m +/-180) of the distance measuring instrument are on a straight line passing through the center of a circle, the straight line is marked as m (m +/-180), a straight line intersection straight line mp parallel to the line pp ' is made on a plane m (m +/-180) pp ' passing through the point (m +/-180), and the marking intersection point is m ';
the point m (m ± 180) m' may be configured as a right-angled triangle, with the side mm ═ Sm-Sm±180The m (m + -180) ═ d edge is determined by an inverse trigonometric function
Calculating the angle of an angle m (m +/-180) m ', making a straight line which is perpendicular to pp' on a plane m (m +/-180) pp 'at a crossing point (m +/-180), wherein the crossing point marked on the straight line pp' is p ', the crossing point of m (m +/-180) m' + < m '(m +/-180) p' -m ^ m '(m +/-180) p' + < p '(m +/-180) p' can know the angle m (m +/-180) m '+ < p' (m +/-180) p ', and calculating the straight line (m +/-180) p' -S ^ S '-p' through a trigonometric functionm±180cos[∠p’(m±180)p”]The angle m (m +/-180) m' is the angle required to be adjusted when the tactile sense and eddy current vision multi-sense sensor is adjusted to the optimal welding gun posture;
and S46, determining an attitude diagram of the vortex vision multi-sensing sensor and the welding seam after the angle is adjusted, wherein pp 'is d, pm is the distance from the vortex vision multi-sensing sensor to the center of the welding seam, pm is equal to the length of p' (m +/-180), and controlling the welding gun to move to the position of the welding seam after the data is calculated by the touch and vortex vision multi-sensing fusion controller.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the technical scope of the present invention.
Claims (7)
1. The utility model provides a system of locating is sought to full position appearance buckled plate based on polygraph fusion which characterized in that includes:
the horizontal sliding wall of the cross sliding frame is of a cavity structure;
the air cylinder is arranged in a cavity of the horizontal sliding wall; the cylinder barrel of the cylinder is fixedly connected with the inner cavity of the horizontal sliding wall;
the sensing device comprises a multi-sensing sensor for touch sense and vortex vision and a touch sense and vision fusion controller; the touch visual fusion controller is fixedly connected with a piston of the cylinder; the touch and eddy vision multi-sensing sensor comprises a touch sensor and an eddy vision sensor, and the touch sensor is connected with the touch vision fusion controller through an adaptive rotating hinge; a protective cover is sleeved on the outer side of the touch sensor, one end of the protective cover is fixedly connected with the self-adaptive rotating hinge, and the other end of the protective cover is connected with the vortex visual sensor; the tactile perception device and the eddy current visual perception device are electrically connected with the tactile visual fusion controller;
the sliding sleeve is slidably sleeved outside the horizontal sliding wall;
the large cantilever is fixedly connected to the lower end of the sliding sleeve; the other end of the large cantilever is provided with a circular guide rail disc;
and the welding gun is connected with the circular guide rail disc in an adjustable distance mode.
2. The fully-oriented corrugated plate locating system according to claim 1, wherein the touch sensor comprises 2 touch sensing probes, and the touch sensing probes are connected with the touch vision fusion controller through an adaptive rotation hinge.
3. The system according to claim 2, wherein the adaptive rotary hinge drives the contact sensing probe to adjust the sensing angle through a micro servo motor; the contact sensing probe is spherical and can be retracted into the protective cover; the touch vision fusion controller controls the contraction of the contact sensing probe according to the positioning requirement; the contact sensing probe comprises a plurality of piezoelectric sensors, and the piezoelectric sensors are uniformly distributed on the spherical surface of the contact sensing probe in a spherical array mode.
4. The full-attitude corrugated plate locating system according to claim 2, wherein the eddy current vision sensor comprises 360 evenly-indexed circular array arranged eddy current rangefinders; each eddy current rangefinder calibrates position information.
5. The system according to claim 1, wherein a linear guide rail is arranged between the welding gun and the circular guide rail disc, one end of the linear guide rail is fixedly connected with the circular guide rail disc, and the other end of the linear guide rail is provided with a small cantilever; one end of the small cantilever is connected with the linear guide rail through a miniature hinge, and the other end of the small cantilever is telescopically connected with the welding gun.
6. A method for locating using the full-attitude corrugated plate locating system according to any one of claims 1 to 5, comprising the following steps:
s10, before welding, when the touch and eddy vision multi-sensing fusion controller receives an instruction of needing to independently seek, controlling the micro servo motor to rotate the two contact sensing probes, so that a sensing angle is formed between the two contact sensing probes, and the final sensing angle is 90 degrees; the cylinder drives the touch and eddy vision multi-sensing sensor to move towards the direction of a workpiece to carry out first position finding, and when one of the touch sensing heads touches the vertical plate of the corrugated plate with full pose, the touch sensing probe is pressed, and then the piezoelectric sensor is internally polarized to generate a current signal; the touch and eddy vision multi-sensing fusion controller sends out an instruction after receiving a current signal, and the emergency stop actuating mechanism moves in two directions, so that the position of one plate of the corrugated plate is found;
s20, the haptic and eddy current vision multi-perception fusion controller judges an instruction, sends an instruction to an eddy current vision sensor in another haptic and eddy current vision multi-perception sensor which is not in contact with a workpiece, 360 circular array eddy current distance meters on the eddy current vision sensor start to work to obtain distance data h between the eddy current vision sensor and a transverse plate, sends the distance data h to the haptic and eddy current vision multi-perception fusion controller, the haptic and eddy current vision multi-perception fusion controller sends an instruction to a servo motor in a cross sliding frame, the servo motor drives the cross sliding frame to move downwards h, at the moment, the two haptic and eddy current vision multi-perception sensors are in contact with the two plates of a corrugated plate and form an angle of 90 degrees, and the spatial position of a welding line is determined;
s30, after the two contact sensing probes find the position of the welding seam space, high level signals of the two contact sensing probes are sent to the touch and eddy current vision multi-sensing fusion controller, and the touch and eddy current vision multi-sensing fusion controller controls the micro motor to drive the self-adaptive rotating hinge; after the rotation, the vortex vision multi-perception sensor which is contacted with the workpiece later rotates 45 degrees towards the direction of the vortex vision multi-perception sensor which is contacted with the workpiece first, and at the moment, the vortex vision multi-perception sensor which is contacted with the workpiece later is directly opposite to the welding seam; after the angle adjustment is finished, the vortex vision multi-sensing fusion controller generates signals to a vortex vision sensor, and 360 uniformly-indexed circular array vortex distance measuring instruments of the vortex vision sensor start to work to obtain 360 distance data; wherein, position information has all been markd to each vortex distancer in 360 vortex distancers, through the position information of markeing, is S to 360 distance signal reference numbers that vortex distancer obtained1,S2...S360；
S40, data { S1,S2...S360Sending the touch sense and vortex vision multi-sense fusion controller to the touch sense and vortex vision multi-sense fusion controller, and processing data by the vortex vision multi-sense fusion controller; the touch and eddy vision multi-sensing fusion controller controls the welding gun to move to the position of the welding line according to the data processing result, and the position finding of the corrugated plate is completed.
7. The locating method according to claim 6, wherein the method for processing data by the eddy current vision multi-perception fusion controller in step S40 comprises the following steps:
s41, enabling the turbine range finders arranged in a circular array to face weld joints of corrugated plates at 45-degree included angles in space, dividing 360 array turbine range finders into two parts through a symmetry axis, and enabling distances measured by the range finders with the same phase difference values on two sides of the symmetry axis to be equal, wherein the two laser range finders on the symmetry axis are just at positions of the orthographic weld joints, and one of the two laser range finders facing the weld joints acquires data as a maximum value;
s42, setting S for maximum value extractionmFor data S stored in a storage unit of a haptic and eddy current visual multi-perception fusion controller1,S2...S360Sorting by using a bubble sorting algorithm, firstly comparing the 1 st data with the 2 nd data, exchanging the two data if the data are in a reverse order, then comparing the 2 nd data with the 3 rd data, exchanging the data if the kth data is equal to the (k + 1) th data, and repeating the steps until the 359 th data and the 360 th data are compared, and arranging the value with the largest distance to the last position by the process; extracting the value of the last position as Sm；
S43, according to the even scale of 360 distance meters, the method can be known as SmThe data of the other opposite welding line with 180 degrees phase difference on the same axis is Sm±180Extracting SmAnd Sm±180；
S44, marking a point of the laser range finder m on the weld mark as p, marking a point of the laser range finder (m +/-180) on the weld mark as p ', the distance between a pair of range finders passing through the center of a circle of the circular array laser range finder as d, marking the point p of the two range finders on the weld, and forming a plane m (m +/-180) pp ' by the two laser range finders opposite to the weld and the marked points p and p ';
s45, calculating the rotating angle and the advancing distance of the eddy current vision multi-perception sensor adjusted to the optimal welding attitude; wherein, the number m and the number (m +/-180) of the distance measuring instrument are on a straight line passing through the center of a circle, the straight line is marked as m (m +/-180), a straight line intersection straight line mp parallel to the line pp ' is made on a plane m (m +/-180) pp ' passing through the point (m +/-180), and the marking intersection point is m ';
the point m (m ± 180) m' may be configured as a right-angled triangle, with the side mm ═ Sm-Sm±180The m (m + -180) ═ d edge is determined by an inverse trigonometric function
Calculating the angle of m (m +/-180) m', and the passing point (m +/-180) is on the flatA straight line perpendicular to pp ' is made on a plane m (m +/-180) pp ', an intersection point marked on the straight line pp ' is p ', m (m +/-180) m ' +/-m ' (m +/-180) p ' +/-p ' (m +/-180) p ' can be known, m (m +/-180) m ' +/-p ' (m +/-180) p ' can be calculated through a trigonometric function, and a straight line (m +/-180) p ' is S + -p ' (m +/-180) p ' can be calculated through the trigonometric functionm±180cos[∠p’(m±180)p”]The angle m (m +/-180) m' is the angle required to be adjusted when the tactile sense and eddy current vision multi-sense sensor is adjusted to the optimal welding gun posture;
and S46, determining an attitude diagram of the eddy current vision multi-sensing sensor and the welding seam after the angle is adjusted, wherein pp 'is d, pm is the distance from the eddy current vision multi-sensing sensor to the center of the welding seam, pm is equal to the length of p' (m +/-180), and after the data are calculated by the touch and eddy current vision multi-sensing fusion controller, the welding gun is controlled to move to the position of the welding seam.
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