CN113909720B - 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
- CN113909720B CN113909720B CN202111121220.6A CN202111121220A CN113909720B CN 113909720 B CN113909720 B CN 113909720B CN 202111121220 A CN202111121220 A CN 202111121220A CN 113909720 B CN113909720 B CN 113909720B
- Authority
- CN
- China
- Prior art keywords
- welding
- robot
- track
- arm
- point
- 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.)
- Active
Links
- 238000003466 welding Methods 0.000 title claims abstract description 187
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 238000012545 processing Methods 0.000 claims abstract description 14
- 238000001914 filtration Methods 0.000 claims description 13
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000036544 posture Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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 for a deep wave steep slope corrugated plate container and a welding method for the 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 the tail end of the welding arm is provided with a welding gun; the measuring assembly includes first and second point laser sensors configured to be disposed one above the other and adjacent to each other, the first point laser sensor being oriented in a horizontal direction, the second point laser sensor being oriented at a predetermined angle to the horizontal direction; the control equipment is electrically connected with the measuring assembly and the welding assembly; the control equipment obtains track data of the 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. The invention can improve welding efficiency and precision and greatly reduce 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 increasingly tends to intelligent manufacturing, and vision-guided welding technology has been introduced in the field of container manufacturing. At present, a line laser vision sensor is mostly adopted in the vision guiding welding technology, and guiding welding is realized by recognizing and measuring characteristic welding seams; and the line laser sensor mainly realizes the recognition measurement of the welding line through the triangle imaging principle, when the detection target is a deep wave steep corrugated plate, the image can be blocked by a steep edge because of the ultra-deep wave pattern and the ultra-steep wave pattern, and the detection of the welding line can not be realized.
Accordingly, there is a need to provide a welding apparatus and method for a deep wave steep grade corrugated board container that at least partially addresses the above-described problems.
Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and 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-mentioned problems, according to a first aspect of the present invention, there is provided a welding device for a deep wave steep corrugated plate container, the welding device comprising:
the welding assembly comprises a welding robot, wherein 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 measurement assembly comprising a first point laser sensor and a second point laser sensor, the measurement assembly being located at an end of the robotic welding arm, the first and second point laser sensors being configured to be arranged one above the other and 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 both lie within a same vertical plane that is perpendicular to a horizontal plane, wherein the first point laser sensor is oriented in a horizontal direction, and the second point laser sensor is oriented 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 the 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 measuring assembly are configured to be arranged one above the other such that a central axis of the welding gun is located in the vertical plane.
Optionally, a flange is provided at the end of the robotic welding arm, and the welding gun is connected to the robotic welding arm through the flange.
Optionally, the end of the robotic welding arm is provided with a fixture by which the measurement assembly is connected to the robotic welding arm.
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 controls the robot welding arm to move relative to the corrugated plate to be welded such that the first point laser sensor is directed horizontally towards the corrugated plate to be welded and the second point laser sensor is directed obliquely towards the horizontal surface of the container beam to be welded with the corrugated plate;
the control equipment controls the robot welding arm to move linearly at a uniform speed along the Y-axis direction, wherein the Y-axis direction is the axial extension direction of the container beam, and the horizontal distance between the robot welding arm and the corrugated plate and the vertical distance between the robot welding arm and the horizontal surface of the container beam are acquired in real time through the measuring assembly;
correlating the data measured by the measuring assembly with the Y coordinate of the robot welding arm to obtain a series of track data of the welding seam relative to the robot welding arm;
processing the series of track data and planning a welding track of the welding arm of the robot;
and enabling the robot welding arm to move along the welding track from a welding starting point, and simultaneously starting the welding gun to finish welding.
Optionally, the welding method further comprises: and calculating corner positions of the deep wave steep slope corrugated plates, and planning the postures of the robot welding arms when reaching each corner position, so that the welding gun is always perpendicular to the welding line during welding.
Optionally, the processing the series of trajectory data includes: and filtering the series of track data by adopting a limiting filtering method.
Optionally, 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.
Optionally, the calculating corner positions of the deep wave steep slope corrugated plate includes: and carrying out planar straight line fitting by using a plurality of continuous points, solving the slope of the fitted straight line, and determining the position of the corner according to the change rate of the slope of the fitted straight line.
Optionally, planning the EGM motion into a stable uniform motion according to the acquired trajectory data specifically includes: and according to all the collected data points, planning the welding track as a motion track consisting of continuous points with preset intervals, wherein the preset intervals are between 0 and 1 mm.
According to the welding device and the welding method for the deep wave steep slope corrugated plate container, the double-point laser sensor is used for measuring the deep wave steep slope corrugated plate, and the two point laser sensors are arranged up and down, so that the plane in which the axis is positioned is perpendicular to the horizontal plane, and the situation that the deep wave steep slope shields the triangular imaging is avoided; the welding robot, the control equipment and the double-point laser sensor can be used for detecting and guiding the welding seam characteristics of the container deep wave steep corrugated plate, and accurately detecting and guiding the welding seam characteristics of the container deep wave steep corrugated plate. The invention can improve the welding efficiency and precision and greatly reduce the equipment cost.
Drawings
The following drawings are included to provide an understanding of the invention and are incorporated in and constitute a part of this specification. Embodiments of the present invention and their description are shown in the drawings to illustrate the devices and principles of the invention. In the drawings of which there are shown,
fig. 1 is a schematic view of a welding apparatus for a deep wave steep grade corrugated plate container in accordance with the invention;
fig. 2 is a front view of corrugated board and container beams to be welded according to the invention; and
fig. 3 is a top view of corrugated board 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 invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.
In the following description, a detailed structure will be presented for the purpose of thoroughly understanding the present invention. It will be apparent that the invention is not limited to the specific details set forth in the skilled artisan. The preferred embodiments of the present invention are described in detail below, however, the present invention may have other embodiments in addition to the detailed description, and should not be construed as 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. The terms "comprises," "comprising," and/or "including," when used in this specification, 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 are used herein for illustrative purposes only and are not limiting.
Ordinal numbers such as "first" and "second" cited in the present invention are merely identifiers and do not have any other meaning, such as a particular order or the like. Also, for example, the term "first component" does not itself connote the presence of "second component" and the term "second component" does not itself connote the presence of "first component".
Hereinafter, specific embodiments of the present invention will be described in more detail with reference to the accompanying drawings, which illustrate representative embodiments of the present invention and not limit the present 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, wherein 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 comprises a first spot laser sensor 21 and a second spot laser sensor 22, the measuring assembly 2 is positioned at the end of the robot welding arm 111, the first spot laser sensor 21 and the second spot laser sensor 22 are configured to be arranged up and down and are adjacent to each other, so that the central axis of the first spot laser sensor 21 and the central axis of the second spot laser sensor 22 are both positioned in the same vertical plane perpendicular to the horizontal plane, the first spot laser sensor 21 is oriented in the horizontal direction, and the second spot laser sensor 22 is oriented 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.
By arranging two point laser sensors to be positioned one above the other and having a first point laser sensor directed in a horizontal direction and a second point laser sensor directed in a direction at a predetermined angle to the horizontal direction, it is possible to achieve that the laser emitter of the first point laser sensor irradiates the corrugated plate to be welded horizontally during the measurement and receives the light reflected from the corrugated plate through the photosensitive element of the first laser sensor, whereby the horizontal distance from the robot control arm to the corrugated plate can be obtained; the laser transmitter 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. Since the central axes of the first and second point laser sensors are both located in the same vertical plane perpendicular to the horizontal plane, the location of the weld (the junction of the corrugated plate with the horizontal surface of the container beam as shown in fig. 3) can be obtained according to the parallelogram principle. The arrangement can effectively avoid the condition that the triangular imaging is blocked by the deep wave steep slope of the corrugated plate.
Further, as shown in fig. 1, the welding gun 112 may be configured with the measurement assembly 2 in a top-bottom arrangement such that the central axis of the welding gun 112 lies in the above-described vertical plane. This arrangement allows the relative position between the 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 end of the robot welding arm 111 is provided with a fixing member 114, and the measuring 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 with an EGM (Externally Guided Motion, external guided motion) interface. The ABB robot can be electrically connected with the ABB robot control cabinet, and the control equipment can be electrically connected with the ABB robot control cabinet, for example, through Ethernet connection and adopts UDP (User Datagram Protocol ) communication protocol, so that the real-time control of the ABB robot is realized. Furthermore, the control device is electrically connected to the measuring assembly 2, whereby data acquisition, data filtering processing, etc. can be achieved.
The invention also provides a welding method for the corrugated plate container with the steep slope, 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 relative to the corrugated board 3 to be welded such that the first point laser sensor 21 is directed horizontally towards the corrugated board 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 board 3;
the control device controls the robot welding arm 111 to move linearly at a uniform speed 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 of the robot welding arm 111 from the corrugated plate 3 and the vertical distance from the horizontal surface of the container beam 4 (the surface welded with the corrugated plate 3) in real time through the measuring assembly 2;
correlating the data measured by the measuring assembly 2 with the Y-coordinate of the robotic welding arm 111 to obtain a series of trajectory data p of the weld relative to the robotic welding arm 111 0 (x 0 ,y 0 ,z 0 )，p 1 (x 1 ,y 1 ,z 1 )，p 2 (x 2 ,y 2 ,z 2 )...p n (x n ,y n ,z n )；
For a series of trace data p 0 (x 0 ,y 0 ,z 0 )，p 1 (x 1 ,y 1 ,z 1 )，p 2 (x 2 ,y 2 ,z 2 )...p n (x n ,y n ,z n ) Processing and planning a welding track of the robot welding arm 111;
the robot welding arm 111 is moved from the welding start point along the welding locus while the welding gun 112 is turned on to complete the welding.
Further, the welding method of the present invention further comprises: the positions of the corners 31 of the deep wave steep corrugated plate are calculated, and the posture of the robot welding arm 111 when reaching each corner position is planned so that the welding gun 112 is always perpendicular to the weld line at the time of welding, thereby ensuring the welding effect.
Further, the processing the series of trajectory data includes: and filtering the series of track data by adopting a limiting filtering method.
Further, the welding robot 11 may be a robot with an EGM interface, and accordingly, the welding method of the present invention further comprises: and planning the EGM motion into stable uniform motion according to the acquired track data.
Taking an ABB robot with an EGM interface as an example, a control program can be started to call the ABB robot EGM interface to read and write the position of the ABB robot, so that the control equipment can control the ABB robot in real time, and then the welding method is implemented. The EGM can adopt UDP communication protocol, the communication speed reaches 4 ms/time, and the response speed of the robot is 20ms on average.
The filtering processing of the series of track data by adopting the clipping filtering method may specifically include: performing multiple data acquisition, confirming the maximum allowable error value of two samples, setting the maximum allowable error value theta, and taking the maximum allowable error value as a point p n (x n ,y n ,z n ) When the error is larger than the maximum allowable error theta, then p n The point is invalid data according to p n Fitting a space linear equation to 3 continuous points before the points according to the space linear equation and x n Find the point p' n (x n ,y' n ,z' n ) Instead of the invalid point p n 。
Preferably, the filtering processing of the series of track data by using the clipping filtering method may specifically include: performing multiple data acquisition, confirming the maximum allowable error value of two samples, setting the maximum allowable error value as theta, and taking the maximum allowable error value as a point p n (x n ,y n ,z n ) Satisfy the following requirementsWhen then p n The points are invalid data according to the following spatial linear equationAnd p n-1 ,p n-2 ,p n-3 Three-point fitting space linear equation written in matrix formWherein a, b, x m ,y m Is a coefficient to be determined; from the fitted spatial linear equation and x n Find the point p' n (x n ,y' n ,z' n ) Instead of the invalid point p n 。
The above-mentioned planning the EGM motion into a stable uniform motion according to the collected trajectory data may specifically include: according to all the collected data points, the track is planned into a motion track consisting of continuous points with the distance d (0 mm < d < 1 mm), so that the EGM motion speed is ensured to be stable uniform motion.
Preferably, the planning the EGM motion into the stable uniform motion according to the collected trajectory data may specifically include: planning the EGM movement speed, and planning the track as follows according to all the collected data points: the motion track formed by continuous points with the distance d (d is more than 0mm and less than 1 mm) ensures that the motion speed of the EGM is stable at a constant speed. The relationship between EGM speed and position is: speed=k (pos_ref-pos) +speed_ref; speed is the actual speed, k is the coefficient, pos_ref is the reference position, pos is the actual position, and speed_ref is the reference speed. With a constant coefficient and reference speed, the actual speed of the EGM depends on the distance of the reference position and the actual position, i.e. the distance of the welding robot's current position from the desired arrival position. Let the expected arrival position distance be d, if point p 0 And point p 1 The spatial distance is greater than d, then according to p0 and p 1 A spatial straight line p0p1 is obtained, and a spatial straight line p is obtained 0 p 1 On, welding robot advancing direction distance p 0 Point p at distance d 0' (x 0' ,y 0' ,z 0' ) The method comprises the steps of carrying out a first treatment on the surface of the According to p 0' And p is as follows 1 Is to judge whether p satisfying the distance d exists or not 0” (x 0” ,y 0” ,z 0” ) A dot, if not present, according to p 0' And p is as follows 2 The distance of the point is determined whether p with the distance d exists 1' (x 1' ,y 1' ,z 1' ) Point and let p 1 The points are deleted from the motion track, and the whole track is re-planned by the method, so that the motion speed of the EGM is ensured to be stable at a constant speed.
In order to more accurately calculate the corner position of the deep wave steep slope corrugated plate, a continuous 5-point fitting straight line is used for calculating the overall profile change trend of the corrugated plate, and only the x coordinate and the y coordinate of the corner of the corrugated plate are calculated in the step, so that only p is needed n (x n ,y n ) The information is enough, so that plane straight line fitting is adopted in straight line fitting, and a plane straight line fitting equation set according to the straight line equation y=ax+b is as followsWrite as matrix +.>Obtaining the slope k of the fitting straight line 0 ,k 1 ,k 2 ...k n (n is more than or equal to 3); when the slope of the fitted straight line changes very little in the straight line stage, the whole body tends to be stable, when the slope changes more than 2 times continuously in the same direction, the first point of the first larger change is judged to be a corner starting point, when the slope changes tend to be stable again, the end point of the corner of the first point of the slope changes tend to be stable is judged, the robot is set to start at the corner starting point to perform gesture conversion, and the gesture of the corner end point is adjusted to be the expected welding gesture.
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 pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the invention. Terms such as "part," "member" and the like as 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 being directly attached to another component or to one component being attached to another component through an intermediary. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features unless the features are not applicable or otherwise indicated 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 embodiments described. In addition, 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 fall within the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A welding device for a deep wave steep slope corrugated plate container, the welding device comprising:
the welding assembly comprises a welding robot, wherein the welding robot is provided with a robot welding arm, the tail end of the robot welding arm is provided with a welding gun, and the welding robot is a robot with an EGM interface;
a measurement assembly comprising a first point laser sensor and a second point laser sensor, the measurement assembly being located at an end of the robotic welding arm, the first and second point laser sensors being configured to be arranged one above the other and 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 both lie within a same vertical plane that is perpendicular to a horizontal plane, wherein the first point laser sensor is oriented in a horizontal direction, and the second point laser sensor is oriented at a predetermined angle to the horizontal direction;
a control device electrically connected to the measurement assembly and the welding assembly;
wherein the control equipment obtains track data of a welding line 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, controls the robot welding arm to weld along the welding track,
the method comprises the steps of planning a welding track into a motion track composed of continuous points according to all collected data points, performing plane straight line fitting by using a plurality of the continuous points, solving a slope of a fitting straight line, and determining the positions of corners of the deep wave steep slope corrugated plate according to the change rate of the slope of the fitting straight line;
correlating the data measured by the measuring assembly with the Y coordinate of the robot welding arm to obtain a series of track data of the welding seam relative to the robot welding arm;
processing the series of track data and planning a welding track of the welding arm of the robot;
the processing of the series of trajectory data includes: filtering the series of track data by adopting a limiting filtering method;
the filtering processing of the series of track data by adopting the clipping filtering method comprises the following steps:
performing multiple data acquisition, confirming the maximum allowable error value of two samples, setting the maximum allowable error value as theta, and taking the maximum allowable error value as the pointSatisfy->Point +.>Is invalid data according to the following spatial linear equationAnd->Three-point fitting space linear equation written in matrix formWherein->Is a coefficient to be determined; according to the fitted spatial linear equation and +.>Find the point +.>Substitute for invalid point->；
Planning the EGM motion into stable uniform motion according to the acquired track data;
according to all the collected data points, the welding track is planned to be a motion track consisting of continuous points with preset intervals, and the preset intervals are between 0 and 1 mm;
let d be the distance from the expected arrival position, if point p 0 And point p 1 The spatial distance is greater than d, then according to p 0 And p 1 Obtaining p 0 p 1 And calculate a spatial straight line p 0 p 1 On, welding robot advancing direction distance p 0 Point p at distance d 0 '(x 0 ',y 0 ',z 0 ' s); according to p 0 ' and p 1 Is to judge whether p satisfying the distance d exists or not 0 ”(x 0 ”,y 0 ”,z 0 ") points, if not present, according to p 0 ' and p 2 The distance of the point is determined whether p with the distance d exists 1 '(x 1 ',y 1 ',z 1 ' Point), and will p 1 And deleting the points from the motion track, and re-planning the whole track, so that the EGM motion speed is uniform.
2. The welding apparatus for deep wave steep grade corrugated plate containers of claim 1, wherein the welding gun and the measurement assembly are configured to be positioned one above the other such that a central axis of the welding gun is located in the vertical plane.
3. The welding apparatus for deep wave steep corrugated plate containers according to claim 1, wherein 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 a deep wave steep corrugated plate container according to any of claims 1-3, wherein 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 corrugated plate container, the welding method being implemented by a welding device according to any of claims 1-4, characterized in that the welding method comprises:
the control device controls the robot welding arm to move relative to the corrugated plate to be welded such that the first point laser sensor is directed horizontally towards the corrugated plate to be welded and the second point laser sensor is directed obliquely towards the horizontal surface of the container beam to be welded with the corrugated plate;
the control equipment controls the robot welding arm to move linearly at a uniform speed along the Y-axis direction, wherein the Y-axis direction is the axial extension direction of the container beam, and the horizontal distance between the robot welding arm and the corrugated plate and the vertical distance between the robot welding arm and the horizontal surface of the container beam are acquired in real time through the measuring assembly;
correlating the data measured by the measuring assembly with the Y coordinate of the robot welding arm to obtain a series of track data of the welding seam relative to the robot welding arm;
processing the series of track data and planning a welding track of the welding arm of the robot;
and enabling the robot welding arm to move along the welding track from a welding starting point, and simultaneously starting the welding gun to finish welding.
6. The welding method for a deep wave steep grade corrugated panel container of claim 5, further comprising:
and calculating corner positions of the deep wave steep slope corrugated plates, and planning the postures of the robot welding arms when reaching each corner position, so that the welding gun is always perpendicular to the welding line during welding.
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 CN113909720A (en) | 2022-01-11 |
| CN113909720B true 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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,2014,第196-198页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113909720A (en) | 2022-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100357071C (en) | A method and a system for programming an industrial robot to move relative to defined positions on an object, including generation of a surface scanning program | |
| CN114714029B (en) | Automatic arc welding method and device for aluminum alloy | |
| CN207205619U (en) | Ripple seam tracking system based on 3 D laser scanning | |
| CN113681563B (en) | Assembling method and system based on double cameras | |
| CN110560892B (en) | Pipe identification method and device based on laser pipe cutting equipment | |
| CN111570975B (en) | Welding deviation measuring method and device based on synchronous drawing and automatic welding system | |
| CN114474041A (en) | Welding automation intelligent guiding method and system based on cooperative robot | |
| JP3317101B2 (en) | Welding robot | |
| JP3322330B2 (en) | Work implement attitude control device with respect to work target surface, crucible measuring device and coating device having the same | |
| CN113909720B (en) | Welding device and welding method for deep wave steep slope corrugated plate container | |
| CN114559157A (en) | Welding seam track autonomous locating device, system and method based on machine vision | |
| CN117047237B (en) | Intelligent flexible welding system and method for special-shaped parts | |
| CN109128540A (en) | A kind of T connector laser welding focal track determines method | |
| JP2680460B2 (en) | Angle measuring device for bending machine | |
| JP4244705B2 (en) | Calibration apparatus and method for laser processing head with rotating mechanism | |
| JP2602292B2 (en) | Welding system and welding method | |
| US10955237B2 (en) | Measurement method and measurement apparatus for capturing the surface topology of a workpiece | |
| JP2654206B2 (en) | Touch-up method | |
| CN111318782B (en) | Method for calibrating robot welding gun and laser weld tracking sensor of marine pipe welding machine | |
| CN117444988B (en) | Method for confirming real starting point and end point of welding line under error of space positioning | |
| JPS6272475A (en) | Welding control device | |
| JP2523420B2 (en) | Image processing method in optical measuring device | |
| JP2645991B2 (en) | Control mechanism of tracking sensor device | |
| JPH07117385B2 (en) | measuring device | |
| JPH08187578A (en) | Storing method of data for position correcting in multi-layer welding control |
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 |