CN113909720A - Welding device and welding method for deep wave steep slope corrugated plate container - Google Patents
Welding device and welding method for deep wave steep slope corrugated plate container Download PDFInfo
- Publication number
- CN113909720A CN113909720A CN202111121220.6A CN202111121220A CN113909720A CN 113909720 A CN113909720 A CN 113909720A CN 202111121220 A CN202111121220 A CN 202111121220A CN 113909720 A CN113909720 A CN 113909720A
- Authority
- CN
- China
- Prior art keywords
- welding
- robot
- arm
- laser sensor
- point laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003466 welding Methods 0.000 title claims abstract description 186
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000005259 measurement Methods 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 11
- 238000001914 filtration Methods 0.000 claims description 11
- 230000036544 posture Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
- B23K37/0252—Steering means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a welding device and a welding method for a deep-wave steep-slope corrugated plate container. The welding device comprises a welding assembly, a measuring assembly and control equipment, wherein the welding assembly comprises a welding robot provided with a welding arm, and a welding gun is arranged at the tail end of the welding arm; the measuring assembly comprises a first point laser sensor and a second point laser sensor, the first point laser sensor and the second point laser sensor are configured to be arranged up and down and adjacent to each other, the first point laser sensor points to the horizontal direction, and the second point laser sensor points to the horizontal direction at a preset angle; the control equipment is electrically connected with the measuring assembly and the welding assembly; the control equipment obtains the track data of the welding seam relative to the robot welding arm according to the measurement data of the measurement assembly, plans the welding track of the robot welding arm by processing the track data, and controls the robot welding arm to weld along the welding track. The invention can improve the welding efficiency and precision and greatly reduce the equipment cost.
Description
Technical Field
The invention relates to the technical field of containers, in particular to a welding device and a welding method for a deep wave steep slope corrugated plate container.
Background
With the continuous development of industrial technology, industrial manufacturing tends to be intelligent, and visual guide welding technology is introduced in the field of container manufacturing. At present, a line laser vision sensor is mostly adopted in the vision-guided welding technology, and the guide welding is realized by identifying and measuring characteristic welding seams; and line laser sensor mainly realizes the discernment measurement to the welding seam through triangle formation of image principle, when the detection target is dark steep slope buckled plate, can receive sharp limit to shelter from because the wave type is too dark and too steep and lead to the image, can't realize detecting to the welding seam.
Therefore, there is a need to provide a welding device and a welding method for deep wave steep corrugated board containers to at least partially solve the above problems.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In order to at least partially solve the above problems, according to a first aspect of the present invention, there is provided a welding device for a deep wave steep corrugated board container, the welding device comprising:
the welding assembly comprises a welding robot, the welding robot is provided with a robot welding arm, and the tail end of the robot welding arm is provided with a welding gun;
a measuring assembly including a first point laser sensor and a second point laser sensor, the measuring assembly being located at a distal end of the robot welding arm, the first point laser sensor and the second point laser sensor being configured to be arranged one above the other and to be adjacent to each other such that a central axis of the first point laser sensor and a central axis of the second point laser sensor are both located in a same vertical plane perpendicular to a horizontal plane, wherein a pointing direction of the first point laser sensor is a horizontal direction, and a pointing direction of the second point laser sensor is at a predetermined angle to the horizontal direction;
a control device electrically connected to the measurement assembly and the welding assembly;
the control equipment obtains track data of a welding seam relative to the robot welding arm according to the measurement data of the measurement assembly, plans a welding track of the robot welding arm by processing the track data, and controls the robot welding arm to weld along the welding track.
Optionally, the welding gun and the measurement assembly are configured to be arranged one above the other such that a central axis of the welding gun lies in the vertical plane.
Optionally, the end of the robot welding arm is provided with a flange, and the welding gun is connected to the robot welding arm through the flange.
Optionally, the end of the robot welding arm is provided with a fixing member, and the measuring assembly is connected to the robot welding arm through the fixing member.
The invention also provides a welding method for the deep wave steep slope corrugated plate container, which is implemented by the welding device and comprises the following steps:
the control device controlling the robotic welding arm to move relative to the corrugated board to be welded such that the first point laser sensor is directed horizontally at the corrugated board to be welded and the second point laser sensor is directed obliquely at a horizontal surface of the container beam to be welded with the corrugated board;
the control device controls the robot welding arm to move linearly at a constant speed along the Y-axis direction, the Y-axis direction is the axial extension direction of the container beam, and the horizontal distance from the robot welding arm to the corrugated plate and the vertical distance from the robot welding arm to the horizontal surface of the container beam are collected in real time through the measuring assembly;
correlating the data measured by the measurement assembly with the Y coordinate of the robot welding arm to obtain a series of trajectory data of the weld relative to the robot welding arm;
processing the series of track data and planning a welding track of the welding arm of the robot;
moving the robotic welding arm from a welding start point along the welding trajectory while turning on the welding gun to complete the weld.
Optionally, the welding method further comprises: and calculating the corner positions of the deep wave steep slope corrugated plate, and planning the postures of the robot welding arm when the robot welding arm reaches each corner position, so that the welding gun is always vertical to a welding seam during welding.
Optionally, the processing the series of trajectory data includes: and filtering the series of track data by using an amplitude limiting filtering method.
Optionally, the welding robot is a robot having an EGM interface, the method further comprising:
and planning the EGM motion into stable uniform motion according to the acquired track data.
Optionally, the calculating the corner position of the deep wave steep corrugated plate comprises: and performing plane straight line fitting by using a plurality of continuous points, solving the slope of the fitting straight line, and determining the position of the corner according to the change rate of the slope of the fitting straight line.
Optionally, planning the EGM motion to be a stable uniform motion according to the acquired trajectory data specifically includes: according to all the collected data points, the welding track is planned to be a motion track consisting of continuous points with a preset interval, and the preset interval is between 0 and 1 mm.
According to the welding device and the welding method for the deep-wave steep-slope corrugated plate container, the deep-wave steep-slope corrugated plate is measured by adopting the double-point laser sensor, the two-point laser sensor is constructed to be arranged up and down, and the plane where the central axis is located is vertical to the horizontal plane, so that the situation that the deep-wave steep slope shields triangular imaging is avoided; through welding robot, controlgear and two spot laser sensor, can realize the welding seam characteristic detection and the welding guide of container deep wave steep slope buckled plate, realize the accurate detection and the welding guide to container deep wave steep slope welding seam characteristic. The invention can improve the welding efficiency and precision and greatly reduce the equipment cost.
Drawings
The following drawings of the invention are included to provide a further understanding of the invention. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles and apparatus of the invention. In the drawings, there is shown in the drawings,
FIG. 1 is a schematic view of a welding apparatus for a deep wave steep corrugated board container according to the present invention;
FIG. 2 is a front view of corrugated sheets and container beams to be welded according to the present invention; and
fig. 3 is a top view of corrugated sheets and container beams to be welded according to the invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the following description, for purposes of explanation, specific details are set forth in order to provide a thorough understanding of the present invention. It is apparent that the practice of the invention is not limited to the specific details set forth herein as are known to those of skill in the art. The following detailed description of the preferred embodiments of the present invention, however, the present invention may have other embodiments in addition to the detailed description, and should not be construed as being limited to the embodiments set forth herein.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, as the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. When the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The terms "upper", "lower", "front", "rear", "left", "right" and the like as used herein are for purposes of illustration only and are not limiting.
Ordinal words such as "first" and "second" are referred to herein merely as labels, and do not have any other meaning, such as a particular order, etc. Also, for example, the term "first component" does not itself imply the presence of "second component", and the term "second component" does not itself imply the presence of "first component".
In the following, specific embodiments of the present invention will be described in more detail with reference to the accompanying drawings, which illustrate representative embodiments of the invention and do not limit the invention.
The invention provides a welding device for a deep wave steep slope corrugated plate container, which comprises a welding assembly 1, a measuring assembly 2 and a control device, as shown in figures 1 to 3. The welding assembly comprises a welding robot 11, the welding robot is provided with a robot welding arm 111, and the tail end of the robot welding arm 111 is provided with a welding gun 112; the measuring assembly 2 includes a first point laser sensor 21 and a second point laser sensor 22, the measuring assembly 2 is located at the end of the robot welding arm 111, the first point laser sensor 21 and the second point laser sensor 22 are configured to be arranged up and down and adjacent to each other such that the central axis of the first point laser sensor 21 and the central axis of the second point laser sensor 22 are both located in the same vertical plane perpendicular to the horizontal plane, the first point laser sensor 21 is directed in the horizontal direction, and the second point laser sensor 22 is directed at a predetermined angle to the horizontal direction; a control device (e.g. an industrial personal computer) is electrically connected to the measuring assembly 2 and the welding assembly 1.
The two point laser sensors are arranged to be positioned up and down, the first point laser sensor points to the horizontal direction, the second point laser sensor points to the direction forming a preset angle with the horizontal direction, the corrugated plate to be welded can be horizontally irradiated by a laser transmitter of the first point laser sensor in the measuring process, light reflected from the corrugated plate is received by a photosensitive element of the first laser sensor, and therefore the horizontal distance from the robot control arm to the corrugated plate can be obtained; the laser emitter of the second point laser sensor obliquely irradiates the horizontal surface of the container beam to be welded with the corrugated plate and receives the light reflected from the horizontal surface of the container beam through the photosensitive element of the second point laser sensor, so that the vertical distance from the robot control arm to the horizontal surface of the container beam can be obtained. Because the central axes of the first point laser sensor and the second point laser sensor are both located in the same vertical plane perpendicular to the horizontal plane, the position of the weld (the joint of the corrugated plate and the horizontal surface of the container beam as shown in fig. 3) can be obtained according to the parallelogram principle. This arrange can effectively avoid the buckled plate deep wave abrupt slope to cause the condition of sheltering from to the triangle formation of image.
Further, as shown in fig. 1, the welding torch 112 may be configured to be disposed above and below the measurement assembly 2 such that the central axis of the welding torch 112 is located in the above-described vertical plane. This arrangement enables the relative position between the welding gun and the weld to be conveniently derived from the data measured by the measurement assembly 2.
Further, as shown in fig. 1, the end of the robot welding arm 111 may be provided with a flange 113, and the welding gun 112 is connected to the robot welding arm 111 through the flange 113. Further, as shown in fig. 1, the distal end of the robot welding arm 111 is provided with a fixing member 114, and the measurement assembly 2 is connected to the robot welding arm 111 through the fixing member 114.
Further, the welding assembly 1 may also comprise a welder for providing energy and material for welding. Further, the welding robot 11 may be an ABB robot having an EGM (external Guided Motion) interface. The ABB robot can be electrically connected with an ABB robot control cabinet, the control equipment can be electrically connected with the ABB robot control cabinet, for example, the ABB robot control cabinet is connected through an Ethernet, and a User Datagram Protocol (UDP) communication Protocol is adopted, so that the real-time control of the ABB robot is realized. In addition, the control device is electrically connected with the measuring component 2, so that data acquisition, data filtering processing and the like can be realized.
The invention also provides a welding method for a deep wave steep slope corrugated plate container, which is implemented by the welding device, and as shown in figures 1 to 3, the welding method comprises the following steps:
the control device controls the robot welding arm 111 to move in relation to the corrugated plate 3 to be welded so that the first point laser sensor 21 is directed horizontally towards the corrugated plate to be welded and the second point laser sensor 22 is directed obliquely towards the horizontal surface of the container beam 4 to be welded with the corrugated plate 3;
the control device controls the robot welding arm 111 to do uniform linear motion along the Y-axis direction/the axial extension direction of the container beam 4 (as shown in fig. 1 and 3), and collects the horizontal distance from the robot welding arm 111 to the corrugated plate 3 and the vertical distance from the horizontal surface (the surface welded with the corrugated plate 3) of the container beam 4 in real time through the measuring assembly 2;
correlating the data measured by the measuring assembly 2 with the Y coordinate of the robot welding arm 111 to obtain a series of trajectory data p of the weld relative to the robot welding arm 1110(x0,y0,z0)，p1(x1,y1,z1)，p2(x2,y2,z2)...pn(xn,yn,zn)；
For a series of track data p0(x0,y0,z0)，p1(x1,y1,z1)，p2(x2,y2,z2)...pn(xn,yn,zn) Processing is carried out, and a welding track of the robot welding arm 111 is planned;
the robot welding arm 111 is moved from the welding start point along the welding trajectory while the welding gun 112 is turned on to complete the welding.
Further, the welding method of the present invention further includes: the positions of the corners 31 of the deep wave steep slope corrugated plate are calculated, and the postures of the robot welding arm 111 reaching the positions of the corners are planned, so that the welding gun 112 is always perpendicular to the welding line during welding, and the welding effect is guaranteed.
Further, the processing the series of trajectory data includes: and filtering the series of track data by using an amplitude limiting filtering method.
Further, the welding robot 11 may be a robot having an EGM interface, and accordingly, the welding method of the present invention further includes: and planning the EGM motion into stable uniform motion according to the acquired track data.
Taking the ABB robot with the EGM interface as an example, the control program can be started to call the EGM interface of the ABB robot to read and write the position of the ABB robot, so as to realize the real-time control of the ABB robot by the control equipment, and then the steps of the welding method are implemented. The EGM can adopt a UDP communication protocol, the communication speed reaches 4 ms/time, and the response speed of the robot is averagely 20 ms.
The above filtering the series of track data by using the clipping filtering method may specifically include: carrying out data acquisition for multiple times, confirming the maximum allowable error value of two times of sampling, setting the maximum allowable error value theta, and when the point p isn(xn,yn,zn) Greater than the maximum allowable error θ, then pnThe point is invalid data according to pnFitting a space linear equation according to 3 continuous points before the point, and obtaining the space linear equation and xnGet point p'n(xn,y'n,z'n) Instead of the invalid point pn。
Preferably, the filtering processing on the series of track data by using the clipping filtering method specifically includes: carrying out data acquisition for multiple times, confirming the maximum allowable error value of two times of sampling, setting the maximum allowable error value as theta, and when the point p isn(xn,yn,zn) Satisfy the requirement of
When it is, then pnThe points are invalid data according to the following equation of a spatial line
And pn-1,pn-2,pn-3Three-point fitting space linear equation written in matrix form as
Wherein a, b, xm,ymIs the undetermined coefficient; from the fitted spatial line equation and xnGet point p'n(xn,y'n,z'n) Instead of the invalid point pn。
The planning of the EGM motion into a stable uniform motion according to the acquired trajectory data may specifically include: and according to all the collected data points, the track is planned to be a motion track consisting of continuous points with the distance d (d is more than 0mm and less than 1mm), so that the EGM motion speed is ensured to be stable and uniform motion.
Preferably, the planning of the EGM motion into a stable uniform motion according to the acquired trajectory data may specifically include: planning the motion speed of the EGM, and according to all collected data points, planning the track as follows: the motion trail is formed by continuous points with the distance d (d is more than 0mm and less than 1mm), thereby ensuring that the EGM motion speed is stable at a constant speed. The EGM velocity versus position relationship is: speed _ k (pos _ ref-pos) + speed _ ref; speed is the actual speed, k is a coefficient, pos _ ref is the reference position, pos is the actual position, speed _ ref is the reference speed. With a certain coefficient and reference speed, the actual speed of the EGM depends on the distance between the reference position and the actual position, i.e. the distance between the current position of the welding robot and the desired arrival position. Let d be the expected arrival distance, if point p0And point p1The spatial distance is greater than d according to p0 and p1The spatial straight line p0p1 is obtained, and the spatial straight line p is obtained0p1Up, a distance p in the advancing direction of the welding robot0Point p of distance d0'(x0',y0',z0') (ii) a Then according to p0'And p1Whether p satisfying the distance d exists or not is judged0”(x0”,y0”,z0”) Point, if not present, according to p0'And p2Judging the distance of the point, and judging whether p with the distance d exists1'(x1',y1',z1') Stippling and mixing p1And deleting points from the motion trail, and replanning the whole trail by the method, thereby ensuring that the EGM motion speed is stable at a constant speed.
In order to more accurately calculate the corner position of the deep wave steep slope corrugated plate, the whole profile change trend of the corrugated plate is calculated by fitting a straight line with continuous 5 points, and only the x coordinate and the y coordinate of the corner of the corrugated plate need to be calculated in the step, so that only p coordinate is neededn(xn,yn) Information is needed, so that the straight line fitting adopts plane straight line fitting, and a plane straight line fitting equation set according to the straight line equation y as ax + b is
Written as a matrix of
Calculating the slope k of the fitted straight line0,k1,k2...kn(n is more than or equal to 3); when the slope of the fitted straight line changes little in the straight line stage, the whole line tends to be stable, when the slope changes continuously for 2 times or more and greatly in the same direction, the first point position with the large change for the first time is judged as a corner starting point, when the slope changes to be stable again, the end point of the corner of the first point position with the stable change in slope is judged, the robot is set to be started at the corner starting point for posture transformation, and the posture is adjusted to be the expected welding posture until the corner end point.
Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Terms such as "part," "member," and the like, when used herein, can refer to either a single part or a combination of parts. Terms such as "mounted," "disposed," and the like, as used herein, may refer to one component as being directly attached to another component or one component as being attached to another component through intervening components. Features described herein in one embodiment may be applied to another embodiment, either alone or in combination with other features, unless the feature is otherwise inapplicable or otherwise stated in the other embodiment.
The present invention has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which variations and modifications fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A welding device for deep wave steep corrugated board containers, characterized in that the welding device comprises:
the welding assembly comprises a welding robot, the welding robot is provided with a robot welding arm, and the tail end of the robot welding arm is provided with a welding gun;
a measuring assembly including a first point laser sensor and a second point laser sensor, the measuring assembly being located at a distal end of the robot welding arm, the first point laser sensor and the second point laser sensor being configured to be arranged one above the other and to be adjacent to each other such that a central axis of the first point laser sensor and a central axis of the second point laser sensor are both located in a same vertical plane perpendicular to a horizontal plane, wherein a pointing direction of the first point laser sensor is a horizontal direction, and a pointing direction of the second point laser sensor is at a predetermined angle to the horizontal direction;
a control device electrically connected to the measurement assembly and the welding assembly;
the control equipment obtains track data of a welding seam relative to the robot welding arm according to the measurement data of the measurement assembly, plans a welding track of the robot welding arm by processing the track data, and controls the robot welding arm to weld along the welding track.
2. A welding apparatus for a deep wave steep corrugated board container as claimed in claim 1, characterized in that said welding gun and said measuring assembly are configured to be arranged one above the other such that the centre axis of said welding gun is located in said vertical plane.
3. A welding device for deep wave and steep wave plate containers according to claim 1, characterized in that the end of the robot welding arm is provided with a flange, through which the welding gun is connected to the robot welding arm.
4. A welding device for deep wave steep corrugated board containers according to any of the claims 1-3, characterized in that the end of the robot welding arm is provided with a fixture, by means of which the measuring assembly is connected to the robot welding arm.
5. A welding method for a deep-wave steep-slope corrugated plate container, which is performed by the welding apparatus of any one of claims 1 to 4, characterized in that the welding method comprises:
the control device controlling the robotic welding arm to move relative to the corrugated board to be welded such that the first point laser sensor is directed horizontally at the corrugated board to be welded and the second point laser sensor is directed obliquely at a horizontal surface of the container beam to be welded with the corrugated board;
the control device controls the robot welding arm to move linearly at a constant speed along the Y-axis direction, the Y-axis direction is the axial extension direction of the container beam, and the horizontal distance from the robot welding arm to the corrugated plate and the vertical distance from the robot welding arm to the horizontal surface of the container beam are collected in real time through the measuring assembly;
correlating the data measured by the measurement assembly with the Y coordinate of the robot welding arm to obtain a series of trajectory data of the weld relative to the robot welding arm;
processing the series of track data and planning a welding track of the welding arm of the robot;
moving the robotic welding arm from a welding start point along the welding trajectory while turning on the welding gun to complete the weld.
6. A method of welding for deep wave steep corrugated board containers according to claim 5, characterized in that the method further comprises:
and calculating the corner positions of the deep wave steep slope corrugated plate, and planning the postures of the robot welding arm when the robot welding arm reaches each corner position, so that the welding gun is always vertical to a welding seam during welding.
7. A welding method for deep wave steep corrugated board containers according to claim 5, characterized in that said processing of said series of trajectory data comprises: and filtering the series of track data by using an amplitude limiting filtering method.
8. A welding method for deep wave steep corrugated board containers according to claim 5, characterized in that the welding robot is a robot with an EGM interface, the method further comprising:
and planning the EGM motion into stable uniform motion according to the acquired track data.
9. A method of welding for deep wave steep corrugated board containers according to claim 6, wherein said calculating the corner position of the deep wave steep corrugated board comprises: and performing plane straight line fitting by using a plurality of continuous points, solving the slope of the fitting straight line, and determining the position of the corner according to the change rate of the slope of the fitting straight line.
10. A method of welding for deep wave steep corrugated board containers according to claim 8, characterized in that the welding trajectory is planned as a movement trajectory consisting of successive points of a predetermined pitch between 0-1mm, based on all data points collected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111121220.6A CN113909720B (en) | 2021-09-24 | 2021-09-24 | Welding device and welding method for deep wave steep slope corrugated plate container |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111121220.6A CN113909720B (en) | 2021-09-24 | 2021-09-24 | Welding device and welding method for deep wave steep slope corrugated plate container |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113909720A true CN113909720A (en) | 2022-01-11 |
| CN113909720B CN113909720B (en) | 2024-01-26 |
Family
ID=79235862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111121220.6A Active CN113909720B (en) | 2021-09-24 | 2021-09-24 | Welding device and welding method for deep wave steep slope corrugated plate container |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113909720B (en) |
Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6109052A (en) * | 1997-06-19 | 2000-08-29 | Austin, Jr.; Albert A. | Container, panel and method of forming thereof |
| CN1479587A (en) * | 2001-11-13 | 2004-03-03 | Method for dividing waveform and characterizing divided sections | |
| KR20040099665A (en) * | 2003-05-19 | 2004-12-02 | 사단법인 고등기술연구원 연구조합 | Apparatus and method for laser welding control |
| DE102009042986B3 (en) * | 2009-09-25 | 2011-03-03 | Precitec Kg | Welding head and method for joining a workpiece |
| CN104991687A (en) * | 2015-06-09 | 2015-10-21 | 惠州Tcl移动通信有限公司 | Method and system for acquiring curve operating track of touch-screen device |
| CN105458462A (en) * | 2015-12-22 | 2016-04-06 | 河北工业大学 | Variable gap trapezoidal welding line multi-parameter synchronous visual inspection tracking method |
| CN106382884A (en) * | 2016-08-18 | 2017-02-08 | 广东工业大学 | Point light source welding seam scanning detection method |
| CN106650648A (en) * | 2016-12-12 | 2017-05-10 | 广东威创视讯科技股份有限公司 | Identification method and system for erasing handwriting |
| CN109272544A (en) * | 2018-10-22 | 2019-01-25 | 湖北文理学院 | The structural light three-dimensional measurement model and image processing method of pipeline all-position weld seam |
| CN110340492A (en) * | 2019-06-27 | 2019-10-18 | 深圳中集智能科技有限公司 | Deep wave steepness slope weld seam double excitation vision tracking welder and welding method |
| CN111014879A (en) * | 2019-12-27 | 2020-04-17 | 上海智殷自动化科技有限公司 | Automatic welding method for corrugated plate of robot based on laser weld seam tracking |
| CN111259788A (en) * | 2020-01-14 | 2020-06-09 | 华志微创医疗科技（北京）有限公司 | Method and device for detecting head and neck inflection point and computer equipment |
| CN111390418A (en) * | 2020-03-31 | 2020-07-10 | 绍兴汉立工业自动化科技有限公司 | Automatic welding process for container corrugated welding |
| CN111571082A (en) * | 2020-06-02 | 2020-08-25 | 深圳市超准视觉科技有限公司 | Automatic welding method and device, mobile terminal and readable storage medium |
| CN112122842A (en) * | 2020-10-13 | 2020-12-25 | 湘潭大学 | Delta welding robot system based on laser vision |
| CN112276300A (en) * | 2020-09-30 | 2021-01-29 | 上海新时达机器人有限公司 | Welding seam scanning method for corrugated plate |
| CN112355438A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Automatic robot welding process for container corrugated welding |
| CN112355439A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Special machine automatic welding process for container corrugated welding |
| CN113199188A (en) * | 2021-06-21 | 2021-08-03 | 宁波奇思益创科技有限公司 | Corrugated plate welding machine capable of automatically crossing waveform |
-
2021
- 2021-09-24 CN CN202111121220.6A patent/CN113909720B/en active Active
Patent Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6109052A (en) * | 1997-06-19 | 2000-08-29 | Austin, Jr.; Albert A. | Container, panel and method of forming thereof |
| CN1479587A (en) * | 2001-11-13 | 2004-03-03 | Method for dividing waveform and characterizing divided sections | |
| KR20040099665A (en) * | 2003-05-19 | 2004-12-02 | 사단법인 고등기술연구원 연구조합 | Apparatus and method for laser welding control |
| DE102009042986B3 (en) * | 2009-09-25 | 2011-03-03 | Precitec Kg | Welding head and method for joining a workpiece |
| CN104991687A (en) * | 2015-06-09 | 2015-10-21 | 惠州Tcl移动通信有限公司 | Method and system for acquiring curve operating track of touch-screen device |
| CN105458462A (en) * | 2015-12-22 | 2016-04-06 | 河北工业大学 | Variable gap trapezoidal welding line multi-parameter synchronous visual inspection tracking method |
| CN106382884A (en) * | 2016-08-18 | 2017-02-08 | 广东工业大学 | Point light source welding seam scanning detection method |
| CN106650648A (en) * | 2016-12-12 | 2017-05-10 | 广东威创视讯科技股份有限公司 | Identification method and system for erasing handwriting |
| CN109272544A (en) * | 2018-10-22 | 2019-01-25 | 湖北文理学院 | The structural light three-dimensional measurement model and image processing method of pipeline all-position weld seam |
| CN110340492A (en) * | 2019-06-27 | 2019-10-18 | 深圳中集智能科技有限公司 | Deep wave steepness slope weld seam double excitation vision tracking welder and welding method |
| CN111014879A (en) * | 2019-12-27 | 2020-04-17 | 上海智殷自动化科技有限公司 | Automatic welding method for corrugated plate of robot based on laser weld seam tracking |
| CN111259788A (en) * | 2020-01-14 | 2020-06-09 | 华志微创医疗科技（北京）有限公司 | Method and device for detecting head and neck inflection point and computer equipment |
| CN111390418A (en) * | 2020-03-31 | 2020-07-10 | 绍兴汉立工业自动化科技有限公司 | Automatic welding process for container corrugated welding |
| CN111571082A (en) * | 2020-06-02 | 2020-08-25 | 深圳市超准视觉科技有限公司 | Automatic welding method and device, mobile terminal and readable storage medium |
| CN112276300A (en) * | 2020-09-30 | 2021-01-29 | 上海新时达机器人有限公司 | Welding seam scanning method for corrugated plate |
| CN112122842A (en) * | 2020-10-13 | 2020-12-25 | 湘潭大学 | Delta welding robot system based on laser vision |
| CN112355438A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Automatic robot welding process for container corrugated welding |
| CN112355439A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Special machine automatic welding process for container corrugated welding |
| CN113199188A (en) * | 2021-06-21 | 2021-08-03 | 宁波奇思益创科技有限公司 | Corrugated plate welding machine capable of automatically crossing waveform |
Non-Patent Citations (1)
| Title |
|---|
| 余锡存等: "《单片机原理及接口技术 第3版》", 西安电子科技大学出版社, pages: 196 - 198 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113909720B (en) | 2024-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106624262B (en) | A kind of method of Intelligent welding pipe intersecting lines | |
| CN108857152B (en) | Full-space pose detection visual sensor device based on composite laser structure light | |
| CN105458462B (en) | A kind of trapezoidal weld seam multi-parameter synchronizing visual detecting and tracking method of Varied clearance | |
| CN108674922A (en) | A kind of conveyer belt method for synchronized, apparatus and system for robot | |
| CN110773840B (en) | Welding deviation measuring method and device and automatic welding system | |
| CN108672907A (en) | The online method for correcting error of arc welding robot weld seam based on structured light visual sensing | |
| CN111014879A (en) | Automatic welding method for corrugated plate of robot based on laser weld seam tracking | |
| CN111570975B (en) | Welding deviation measuring method and device based on synchronous drawing and automatic welding system | |
| JP3322330B2 (en) | Work implement attitude control device with respect to work target surface, crucible measuring device and coating device having the same | |
| JP2014018932A (en) | Calibration method for robot with optical sensor | |
| CN114714029A (en) | Automatic arc welding method and device for aluminium alloy | |
| CN111570974B (en) | Welding deviation measuring method and device based on synchronous drawing and automatic welding system | |
| CN110624732A (en) | Automatic workpiece spraying system | |
| CN109128540A (en) | A kind of T connector laser welding focal track determines method | |
| Estochen et al. | Application of acoustic sensors to robotic seam tracking | |
| CN113909720A (en) | Welding device and welding method for deep wave steep slope corrugated plate container | |
| CN105312731A (en) | Delivery side displacement sensing based automatic tracking method for inner weld seam of spiral steel pipe | |
| Umeagukwu et al. | Robotic acoustic seam tracking: System development and application | |
| CN110560976A (en) | steel coil welding method and system | |
| JPH11197866A (en) | Device for laser beam machining and laser beam cutting method for work | |
| CN112207396A (en) | Automatic weld seam tracking and correcting system | |
| CN117444988B (en) | Method for confirming real starting point and end point of welding line under error of space positioning | |
| CN104842353A (en) | Ultrasonic transducer calibration-based manipulator positioning method, system and calibrating tool | |
| JP2654206B2 (en) | Touch-up method | |
| CN111318782B (en) | Method for calibrating robot welding gun and laser weld tracking sensor of marine pipe welding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |