CN113770497A - Device and method for detecting actual pressurizing position in robot spot welding process - Google Patents
Device and method for detecting actual pressurizing position in robot spot welding process Download PDFInfo
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- CN113770497A CN113770497A CN202110657442.3A CN202110657442A CN113770497A CN 113770497 A CN113770497 A CN 113770497A CN 202110657442 A CN202110657442 A CN 202110657442A CN 113770497 A CN113770497 A CN 113770497A
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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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
- B23K11/115—Spot welding by means of two electrodes placed opposite one another on both sides of the welded parts
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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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/36—Auxiliary equipment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention discloses a device and a method for detecting an actual pressurizing position in a robot spot welding process, which belong to the technical field of welding and comprise the following steps: the detection assembly comprises a camera assembly and a background assembly which are arranged on two sides of the spot welding electrode, and the camera assembly and the background assembly are respectively and electrically connected with the control system. The invention provides a device and a method for detecting an actual pressurizing position in a robot spot welding process, which have the advantages of high detection efficiency, visual detection result and full-automatic detection, can obtain a curve of the actual pressurizing position and time relation in the robot spot welding process under the condition of not using a test piece or using the test piece, and further analyze and evaluate whether a spot welding electrode wear compensation function, a spot welding clamp elastic deformation compensation function and a combination of the spot welding electrode wear compensation function and the spot welding clamp elastic deformation compensation function are normal or not according to the curve and the programming and teaching personnel capabilities of a spot welding robot, so that no material is consumed when the test piece is used, and the use cost is low.
Description
Technical Field
The invention discloses a device and a method for detecting an actual pressurizing position in a robot spot welding process, and belongs to the technical field of welding.
Background
Resistance spot welding is one type of resistance welding, is a method of applying electrode pressure to a workpiece through a spot welding electrode and electrifying the workpiece, and performs welding by using resistance heat, and is widely applied to the fields of aerospace, automobiles, home appliance manufacturing and the like. From the operation aspect, the resistance spot welding operation mainly comprises two types of robot spot welding and manual spot welding, wherein the application and the proportion of spot welding carried out by a robot holding a welding tongs or a workpiece tend to increase year by year.
However, in actual production, the phenomenon that the actual pressurizing position fluctuates greatly relative to the target pressurizing position due to factors such as low teaching quality, poor spot welding electrode wear compensation (or correction), poor spot welding clamp elastic deformation compensation (or correction) and the like often occurs, so that the actual electrode pressure applied to a workpiece during spot welding is inconsistent with the target value, the spot welding clamp and the part are mutually pulled, and the problems of abnormal part deformation, robot shaking, equipment wear aggravation, welding quality reduction and the like are caused in serious cases. However, no technique is currently available that can measure or evaluate the actual pressing position during spot welding.
Disclosure of Invention
The invention aims to solve the problems of abnormal deformation of parts, robot shaking, equipment abrasion aggravation and welding quality reduction caused by large fluctuation of an actual pressurizing position relative to a target pressurizing position due to the factors of low teaching quality of resistance spot welding, poor compensation of abrasion of a spot welding electrode, poor compensation of elastic deformation of a spot welding clamp and the like in the prior art, and provides a device and a method for detecting the actual pressurizing position in the process of spot welding of a robot.
The invention aims to solve the problems and is realized by the following technical scheme:
a detection device for an actual pressing position in a robot spot welding process comprises: the detection assembly comprises a camera assembly and a background assembly which are arranged on two sides of the spot welding electrode, and the camera assembly and the background assembly are respectively and electrically connected with the control system.
Preferably, the camera assembly includes: the camera comprises a camera and a lens protective cover, wherein the lens protective cover is arranged on the camera.
Preferably, still include test block fixture, test block fixture is adjacent with spot welding electrode, be provided with the spot welding test block on the test block fixture, the spot welding test block sets up between the moving electrode and the static electrode of spot welding electrode.
A method for detecting an actual pressing position in a robot spot welding process comprises the following steps:
step S10, obtaining teaching welding point position data and initial electrode image data;
step S20, spot welding command data is obtained through the teaching welding point position data, and the spot welding command data is executed to obtain spot welding total process image data and spot welding total process image time;
step S30, obtaining total electrode position data and total electrode front image data through the spot welding total process image data and the initial electrode image data, and obtaining a total target pressurizing position through the total electrode position data, wherein the total target pressurizing position is a total spot welding joint position;
step S40, obtaining the vertex position data of each frame of electrode and the shooting time data of each frame of image through the total electrode position data and the total electrode front image data;
and step S50, obtaining each frame of actual pressurizing position through each frame of electrode vertex position data, and obtaining actual pressurizing position relative time curve data through each frame of actual pressurizing position and each frame of image shooting time data.
Preferably, the total electrode position data includes: a total moving electrode end face vertex position, a total moving electrode axis, a total static electrode end face vertex position, and a total static electrode axis.
Preferably, the total electrode front image data includes: total dynamic electrode front image data and total static electrode front image data,
preferably, the per-frame electrode vertex position data includes: and each frame of moving electrode vertex position data and each frame of static electrode vertex position data.
Preferably, the obtaining of the total target pressing position by the total electrode position data includes:
when no spot welding test piece exists, the top position of the end surface of the total static electrode is used as a total target pressurizing position;
when a spot welding test piece is available, the midpoint position of the intersection point of the connecting line of the vertex position of the end face of the total moving electrode and the vertex position of the end face of the total static electrode and the upper side and the lower side of the spot welding test piece is the total target pressurization position.
Preferably, the obtaining of the actual pressing position of each frame through the electrode vertex position data of each frame includes:
when no spot welding test piece exists, obtaining per frame of vertex distance data through per frame of dynamic electrode vertex position data and per frame of static electrode vertex position data, and obtaining per frame of actual pressurizing position of the no spot welding test piece through the vertex distance data;
preferably, the obtaining of the actual pressing position of each frame by the electrode vertex position data of each frame further includes:
when a spot welding test piece exists, the distance between each frame of the dynamic electrode vertex position and the upper side of the spot welding test piece and the distance between each frame of the static electrode vertex position and the upper side of the spot welding test piece are respectively obtained through each frame of the dynamic electrode vertex position data, each frame of the static electrode vertex position data and the spot welding test piece, and the actual pressurizing position of each frame of the spot welding test piece is obtained through the distance between each frame of the dynamic electrode vertex position and the upper side of the spot welding test piece and the distance between each frame of the static electrode vertex position and the upper side of the spot welding test piece.
The invention has the beneficial effects that:
the invention provides a device and a method for detecting an actual pressurizing position in a robot spot welding process, which have the advantages of high detection efficiency, visual detection result and full-automatic detection, can obtain a curve of the actual pressurizing position and time relation in the robot spot welding process under the condition of not using a test piece or using the test piece, and further analyze and evaluate whether a spot welding electrode wear compensation function, a spot welding clamp elastic deformation compensation function and a combination of the spot welding electrode wear compensation function and the spot welding clamp elastic deformation compensation function are normal or not according to the curve and the programming and teaching personnel capabilities of a spot welding robot, so that no material is consumed when the test piece is used, and the use cost is low.
Drawings
Fig. 1 is a schematic structural diagram of a detection device for an actual pressing position in a robot spot welding process according to the present invention.
Fig. 2 is a schematic structural diagram of the detection device of the actual pressing position in the robot spot welding process in the direction a of the present invention.
Fig. 3 is a flow chart of a method for detecting an actual pressing position in a robot spot welding process according to the present invention.
FIG. 4 is an original image of a processing image of a method for detecting an actual pressing position in a robot spot welding process according to the present invention.
Fig. 5 is a middle image of a processing image of the method for detecting the actual pressing position in the robot spot welding process according to the present invention.
Fig. 6 is a middle view of a processing image of the method for detecting the actual pressing position in the robot spot welding process according to the present invention.
Fig. 7 is a middle view of a processing image of the method for detecting the actual pressing position in the robot spot welding process according to the present invention.
Fig. 8 is a middle view of a processing image of the method for detecting the actual pressing position in the robot spot welding process according to the present invention.
Fig. 9 is a middle view of a processing image of the method for detecting the actual pressing position in the robot spot welding process according to the present invention.
Fig. 10 is a middle view of a processing image of the method for detecting the actual pressing position in the robot spot welding process according to the present invention.
Fig. 11 is a middle view of a processing image of the method for detecting the actual pressing position in the robot spot welding process according to the present invention.
Fig. 12 is a final image of a processing image of a method for detecting an actual pressing position in a robot spot welding process according to the present invention.
Wherein:
100-spot welding electrode, 110-moving electrode, 111-moving electrode end face, 112-moving electrode end face vertex, 113-moving electrode side face, 114-moving electrode axis, 120-static electrode, 121-static electrode end face, 122-static electrode end face vertex, 123-static electrode side face, 124-static electrode axis, 200-detection assembly, 201-test piece clamping mechanism, 202-camera, 203-background assembly, 204-lens protective cover, 300-control system and 400-spot welding test piece.
Detailed Description
The invention is further illustrated below with reference to the accompanying figures 1-12:
the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-2, a first embodiment of the present patent provides, on the basis of the prior art, a device for detecting an actual pressing position in a robot spot welding process, which is characterized by comprising: a detection assembly 200 and a control system 300, wherein the detection assembly 200 comprises a camera assembly and a background assembly 203 which are arranged at two sides of the spot welding electrode 100, and the background assembly 203 provides a background for the camera 202. The background assembly 203 may be an assembly that provides a general background or a background assembly that can be lit and lit off under the control of an external signal. When the background assembly 203 is a backlight assembly capable of emitting light under the control of an external signal, the background assembly 203 is in signal connection with the control system 300, and the control system 201 sends a control signal to control the operation of the background assembly 203.
The camera assembly includes: the control system 300 comprises a camera 202 and a lens protection cover 204, wherein the lens protection cover 204 is arranged on the camera 202, the camera 202 is used for shooting a spot welding area, and the control system 300 sends a control signal to control the camera 202 to work. The camera 202 sends the collected spot welding electrode image in the spot welding area to the control system 300, and the control system 300 is in communication with the spot welding robot system, in this embodiment, the control system is in communication with the spot welding robot control cabinet.
The distance between the spot welding test piece 400 and the camera assembly is a fixed value, the test piece clamping mechanism 201 is adjacent to the spot welding electrode 100, the spot welding test piece 400 is clamped on the test piece clamping mechanism 201, and the spot welding test piece 400 is installed between the moving electrode 110 and the static electrode 120 of the spot welding electrode 100.
4. A method for detecting an actual pressing position in a robot spot welding process is characterized by comprising the following steps:
step S10, obtaining teaching welding point position data and initial electrode image data, wherein the initial electrode image data comprises: the specific process of this step will be described in detail below with the image data of the initial electrode of the spot welding test piece and the image data of the initial electrode of the non-spot welding test piece:
and calibrating the actual size represented by each pixel in the image shot by the camera assembly by using a scale such as a steel plate ruler. The spot welding electrodes are ground and other teaching preparation work is done as required by the spot welding robot (e.g., adjusting spot welding electrode centering, and some brand robots may require the use of entirely new electrode teachings, so it may be necessary to check the electrode status and replace new spot welding electrodes before teaching). The camera assembly captures an image and transmits it to the control system 300. The electrode diameter is input in the control system 300, which in this embodiment is 16 mm.
The specific steps when there is the spot welding test piece 400 are as follows:
step 1, spot welding the test piece 400 on the test piece clamping mechanism 201, wherein the spot welding test piece 400 can be a single-layer test piece or a double-layer test piece. The thickness T of the spot welding test piece 400 is input to the control system 201, and in this example, the thickness T is 1.0 mm.
Step 2, as shown in fig. 2, operating the spot welding robot to keep the static electrode axis 124 perpendicular to the surface of the spot welding test piece 400, moving the movable electrode end surface 111 and the static electrode end surface 121 to a short distance from the two sides of the welding point on the test piece, and inserting a command for moving to the posture into the robot program in the image shot by the camera where the movable electrode 110, the static electrode 120 and the spot welding test piece 400 are not overlapped with each other.
Step 3, the camera 202 shoots an image containing the static electrode 120, the dynamic electrode 110 and the spot welding test piece 400 as initial electrode image data of the spot welding test piece, and transmits the shot image to the control system 300. Keeping the static electrode axis 124 perpendicular to the spot welding test piece 400 teaches a spot weld on the test piece and ensures that the spot weld is near the center of the captured image.
The procedure when there is no spot welding test piece 400 is as follows:
step 1, operating a spot welding robot, moving an end face 121 of a static electrode to be close to the center of an image of a camera, keeping the three-dimensional position and the posture of the static electrode 120, and only adjusting a movable electrode 110 to enable the end face 111 of the movable electrode to be a short distance away from the end face 121 of the static electrode;
step 2, the camera 202 shoots an image containing the static electrode 120 and the dynamic electrode 110 as initial electrode image data of the spot-welding-free test piece and transmits the shot image to the control system 300.
And 3, recording welding point positions in the robot program by taking the three-dimensional position of the static electrode 120 as a reference, and recording the welding point positions according to the thickness T of the welding point which is 0mm or the minimum value which can be accepted by the robot system if the thickness T of the welding point is required to be input in the robot program.
Step S20, obtaining spot welding command data by teaching spot welding position data, executing the spot welding command data to obtain image data of the total process of spot welding and image time of the total process of spot welding, and the specific process of this step will be described in detail below:
the control system 300 continuously detects the spot welding command starting and pressurizing ending signals sent by the robot control cabinet or the spot welding controller and records the time when the signals are received.
Depending on the purpose of the test, mode 1, mode 2, or both mode 1 and mode 2 are selected from the following modes.
1) Changing parameters such as electrode pressure;
2) and replacing or waiting for the spot welding electrode to wear for a certain length. At the moment, the spot welding electrode needs to be ground, and an electrode length detection program such as plate beating is operated according to a robot spot welding electrode length compensation strategy.
Continuously shooting images from the start of the spot welding command to the completion of the pressurization of the spot welding electrode, respectively obtaining the image data of the total spot welding process and the image time of the total spot welding process from the images shot when a spot welding test piece 400 exists and the images shot when no spot welding test piece 400 exists, and transmitting the image data of the total spot welding process and the image time of the total spot welding process to the control system 300, wherein the image data of the total spot welding process comprises the image data of the total spot welding process of the spot welding test piece and the image data of the total spot welding process of the spot welding test piece, and the image time of the total spot welding process comprises the image time of the total spot welding process of the spot welding test piece and the image time of the total spot welding process of the spot welding test piece.
Step S30, obtaining total electrode position data and total electrode front image data by spot welding the total process image data and the initial electrode image data, and obtaining a total target pressing position by the total electrode position data, where the total target pressing position is a total spot welding joint position, and the specific process of this step will be described in detail below:
the initial electrode image data and the total spot welding process image data are combined to obtain an image in which only the movable electrode 110, the static electrode 120 and the test piece 300 (when there is a spot welding test piece) remain, the obtained image is shown in fig. 4, the total spot welding process image data with the background removed is binarized to obtain an image shown in fig. 6, and the image is subjected to edge extraction to obtain an image shown in fig. 6. Obtaining the total moving electrode axis 114 of the moving electrode 110 and the total moving electrode axis 124 of the moving electrode 120 through the graph shown in fig. 6, and obtaining the total moving electrode end face vertex 112 as the intersection point of the total moving electrode axis 114 and the moving electrode 110, wherein the direction of the total moving electrode axis 124 is taken as the direction perpendicular to the surface of the workpiece at the welding point; the intersection of static electrode axis 124 and static electrode 120 is found to be total static electrode end face vertex 122, and thus the static electrode end face vertex 122 position is found.
The method comprises the following steps:
when no spot welding test piece exists: the position of the total static electrode end surface vertex 122 is set as the total target pressurizing position of the non-spot-welding test piece and the total spot-welding joint position of the non-spot-welding test piece.
When the spot welding test piece exists:
two intersection points of the connecting line of the total electrode end surface vertex 112 and the total static electrode end surface vertex 122 and the spot welding test piece 400 are obtained, and the obtained positions are used as the total target pressurizing position of the spot welding test piece and the total spot welding joint position of the spot welding test piece.
As shown in fig. 7, the coordinates of the inner contour line of the general electrode front region a10, the general electrode end face vertex 112 and the general electrode axis 114 are recorded as the geometrical and dimensional characteristic data of the dynamic electrode; the coordinates of the inner contour of total static electrode front area a20, total static electrode end face apex 122, and total static electrode axis 124 are recorded as static electrode geometry, dimensional characteristic data.
As shown in fig. 8, in order to avoid the feature shape and size on the spot welding electrode being occluded or coincident with other contour lines during subsequent shape matching,
selecting data in the total electrode front region a10 except for the portion of the contour near the electrode end face 111 to obtain a total electrode region a 10' including the contour of the electrode side 113, the total electrode axis 114, and the coordinates of the total electrode end face apex 112;
the data in total static electrode front region a20, excluding the portion of the contour near the dynamic electrode end face 121, is selected to yield a total static electrode region a 20' including the contour of total static electrode side 123, total dynamic electrode axis 124, and the coordinates of total dynamic electrode end face apex 122.
Step S40, obtaining vertex position data of each frame of electrode and capturing time data of each frame of image from the total electrode position data and the total electrode front image data, where the vertex position data of each frame of electrode includes: each frame of moving electrode vertex position data and each frame of static electrode vertex position data specifically comprise the following steps:
and analyzing the total electrode position data and the total electrode front image data frame by frame to obtain the positions of the dynamic electrode end surface vertex 112 and the static electrode end surface vertex 122 in each frame of image. The process is as follows:
it is assumed that a certain frame image is photographed as shown in fig. 9, and an image obtained by binarizing fig. 9 and extracting edges is shown in fig. 10. Images in a certain range on both sides of the middle of the image in the Y-axis direction as shown in fig. 10 are deleted regardless of the presence or absence of the work, resulting in the image shown in fig. 11. Solving equations of the static electrode axis 114 and the dynamic electrode axis 124; as shown in fig. 12, the pattern in the total electrode area a 10' is "copied" into fig. 11 as an image block that can be moved and rotated as a whole, and shape matching is performed: with the movable electrode axis in the total movable electrode region a10 ' guaranteed to coincide with the movable electrode axis of fig. 11, the position of the pattern in the total movable electrode region a10 ' is moved stepwise along the movable electrode axis and the sum of the dot pitches of the same portion of the pattern on the movable electrode of fig. 12, the Y-axis coordinate of which is the same as the total movable electrode region a10 ', is calculated. The shape of the dynamic electrode in the total dynamic electrode region a10 'is considered to completely match a portion of the dynamic electrode in fig. 12 when the sum of the point distances attains a minimum, and the position of the dynamic electrode end face apex 112 in the total dynamic electrode region a 10' in fig. 12 at that time is taken as the position of the dynamic electrode end face apex 112 in fig. 12. Similarly, the coordinates of the stationary-electrode end-face apex 122 in fig. 11 are obtained.
Step S50, obtaining each frame of actual pressurizing position through each frame of electrode vertex position data, and obtaining actual pressurizing position relative time curve data through each frame of actual pressurizing position and each frame of image shooting time data, wherein the method specifically comprises the following steps:
when no spot welding test piece is present:
the distance between the moving electrode end surface vertex 112 and the static electrode end surface vertex 122 is calculated frame by frame, and when the distance is less than 0.2mm, the electrode is considered to be in contact with the electrode, and the control system 300 takes the time when the pressurizing end signal sent by the robot control cabinet or the spot welding controller is detected as the pressurizing completion time. The position where the electrode and the workpiece start to contact the apex 122 of the end face of the stationary electrode during the completion of pressing is set as the position of the actual pressing position, and a curve of the actual pressing position with respect to time is obtained.
When there is a spot welding test piece:
calculating the distance between the vertex 112 of the end face of the moving electrode and the top of the spot welding test piece 400 frame by frame, and when the distance is less than 0.2mm, considering that the moving electrode and the workpiece start to contact; calculating the distance between the vertex 122 of the end surface of the static electrode and the bottom of the spot welding test piece 400 frame by frame, and when the distance is less than 0.2mm, considering that the static electrode and the workpiece start to contact; the control system 300 sets the time when the pressurizing end signal from the robot control cabinet or the spot welding controller is detected as the pressurizing completion time. Calculating the position of the electrode and the workpiece from frame to frame in the actual pressurizing position after the electrode and the workpiece are in contact with each other according to the following rule: when two spot welding electrodes are contacted with a workpiece, the actual pressurizing position is the middle point on the connecting line of the moving electrode end face vertex 112 and the static electrode end face vertex 122; when only 1 electrode is in contact with the workpiece, the actual pressing position is a position where the electrode end surface apex of the electrode in contact with the workpiece is shifted by 0.5T, 0.5mm in this embodiment, toward the inside of the spot welded joint.
In addition, when the backlight assembly 203 is a backlight assembly that can emit light under the control of an external signal, the backlight may be turned on before each shot and turned off after each shot. The input electrode diameter may be used as a calibration reference in the control system 300: the control system 300 compares the measured diameter of the electrode cap from the image with the actual dimension represented by each pixel in the image captured by the calibration camera assembly 202 using a scale such as a steel plate ruler to correct the measured actual compression position.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (10)
1. A detection device for an actual pressing position in a robot spot welding process is characterized by comprising: the device comprises a detection assembly (200) and a control system (300), wherein the detection assembly (200) comprises a camera assembly and a background assembly (203) which are arranged on two sides of a spot welding electrode (100), and the camera assembly and the background assembly (203) are respectively and electrically connected with the control system (300).
2. The apparatus for detecting the actual pressing position during the spot welding process of the robot as claimed in claim 1, wherein said camera assembly comprises: the camera comprises a camera head (202) and a lens protection cover (204), wherein the lens protection cover (204) is arranged on the camera head (202).
3. The device for detecting the actual pressing position in the robot spot welding process according to claim 1 or 2, further comprising a test piece clamping mechanism (201), wherein the test piece clamping mechanism (201) is adjacent to the spot welding electrode (100), the spot welding test piece (400) is disposed on the test piece clamping mechanism (201), and the spot welding test piece (400) is disposed between the moving electrode (110) and the static electrode (120) of the spot welding electrode (100).
4. A method for detecting an actual pressing position in a robot spot welding process is characterized by comprising the following steps:
step S10, obtaining teaching welding point position data and initial electrode image data;
step S20, spot welding command data is obtained through the teaching welding point position data, and the spot welding command data is executed to obtain spot welding total process image data and spot welding total process image time;
step S30, obtaining total electrode position data and total electrode front image data through the spot welding total process image data and the initial electrode image data, and obtaining a total target pressurizing position through the total electrode position data, wherein the total target pressurizing position is a total spot welding joint position;
step S40, obtaining the vertex position data of each frame of electrode and the shooting time data of each frame of image through the total electrode position data and the total electrode front image data;
and step S50, obtaining each frame of actual pressurizing position through each frame of electrode vertex position data, and obtaining actual pressurizing position relative time curve data through each frame of actual pressurizing position and each frame of image shooting time data.
5. The method for detecting an actual pressing position in a robot spot welding process according to claim 4, wherein the total electrode position data includes: a total moving electrode end face vertex position, a total moving electrode axis, a total static electrode end face vertex position, and a total static electrode axis.
6. The method for detecting an actual pressing position in a robot spot welding process according to claim 5, wherein the total electrode front image data includes: total dynamic electrode front image data and total static electrode front image data.
7. The method for detecting the actual pressing position in the robot spot welding process according to claim 6, wherein each frame of electrode vertex position data comprises: and each frame of moving electrode vertex position data and each frame of static electrode vertex position data.
8. The method for detecting the actual pressing position in the robot spot welding process according to claim 7, wherein the obtaining of the total target pressing position through the total electrode position data comprises:
when no spot welding test piece exists, the top position of the end surface of the total static electrode is used as a total target pressurizing position;
when a spot welding test piece is available, the midpoint position of the intersection point of the connecting line of the vertex position of the end face of the total moving electrode and the vertex position of the end face of the total static electrode and the upper side and the lower side of the spot welding test piece is the total target pressurization position.
9. The method for detecting the actual pressing position in the robot spot welding process according to claim 8, wherein the obtaining of each frame of actual pressing position through each frame of electrode vertex position data comprises:
when no spot welding test piece exists, each frame of vertex distance data is obtained through each frame of dynamic electrode vertex position data and each frame of static electrode vertex position data, and each frame of actual pressurizing position of the no spot welding test piece is obtained through the vertex distance data.
10. The method for detecting the actual pressing position in the spot welding process of the robot according to claim 9, wherein each frame of the actual pressing position is obtained from each frame of the electrode vertex position data, and further comprising:
when a spot welding test piece exists, the distance between each frame of the dynamic electrode vertex position and the upper side of the spot welding test piece and the distance between each frame of the static electrode vertex position and the upper side of the spot welding test piece are respectively obtained through each frame of the dynamic electrode vertex position data, each frame of the static electrode vertex position data and the spot welding test piece, and the actual pressurizing position of each frame of the spot welding test piece is obtained through the distance between each frame of the dynamic electrode vertex position and the upper side of the spot welding test piece and the distance between each frame of the static electrode vertex position and the upper side of the spot welding test piece.
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| CN202110657442.3A CN113770497B (en) | 2021-06-12 | 2021-06-12 | Device and method for detecting actual pressurizing position in robot spot welding process |
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| CN202110657442.3A CN113770497B (en) | 2021-06-12 | 2021-06-12 | Device and method for detecting actual pressurizing position in robot spot welding process |
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| CN113414482A (en) * | 2021-06-15 | 2021-09-21 | 中国第一汽车股份有限公司 | Device and method for detecting position compensation function of robot spot welding electrode |
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