CN114451641B - Intelligent bracelet, auxiliary welding device and method - Google Patents
Intelligent bracelet, auxiliary welding device and method Download PDFInfo
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- CN114451641B CN114451641B CN202210006433.2A CN202210006433A CN114451641B CN 114451641 B CN114451641 B CN 114451641B CN 202210006433 A CN202210006433 A CN 202210006433A CN 114451641 B CN114451641 B CN 114451641B
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- A—HUMAN NECESSITIES
- A44—HABERDASHERY; JEWELLERY
- A44C—PERSONAL ADORNMENTS, e.g. JEWELLERY; COINS
- A44C5/00—Bracelets; Wrist-watch straps; Fastenings for bracelets or wrist-watch straps
- A44C5/0007—Bracelets specially adapted for other functions or with means for attaching other articles
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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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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Abstract
The embodiment of the invention provides an intelligent bracelet, an auxiliary welding device and an auxiliary welding method, wherein the intelligent bracelet comprises: the acceleration sensor is used for detecting the motion state of the arm; the first camera is arranged on the side face of the intelligent bracelet body and used for collecting hand images when the wrist joints drive the hands to move towards the outside; the second camera sets up the side of intelligence bracelet wrist strap for gather the wrist joint and drive the hand towards the hand image when inboard motion, first camera with the second camera is towards the equidirectional.
Description
Technical Field
The invention relates to the technical field of portable equipment, in particular to an intelligent bracelet, an auxiliary welding device and an auxiliary welding method.
Background
As shown in fig. 1, when a welder manually welds a workpiece 12, the welder typically welds the workpiece by using a yaw bar as shown, and when the workpiece 12 is placed in the direction shown, the welder needs to manually control the end 11 of the welding gun 10 to move left and right along the welding track 13. In order to stabilize the welding quality, it is necessary to make the heat input amount per unit area the same, and therefore, high-quality welding has high requirements for the position and the moving speed of the end portion 11 at different times, and both of them need to be within a certain tolerance range. In the example of fig. 1, the welding seam is a straight line, the welding direction is unchanged, if the shape of the workpiece to be welded is more complex, the welding direction needs to be continuously changed, the welding difficulty is greatly improved, and the welding quality is more difficult to control.
At present, the welding quality is mainly judged by experience of experienced welders, certain uncertainty exists in the judgment mode, and the judgment mode is seriously dependent on the welders, so equipment capable of monitoring the manual welding quality and helping the welders to improve the welding level is urgently needed.
Disclosure of Invention
In view of this, the embodiment of the invention provides an intelligent bracelet, a welding auxiliary device and a method, so as to solve the problem that manual welding quality is difficult to control in the prior art.
According to a first aspect, an embodiment of the present invention provides an intelligent bracelet, including: the acceleration sensor is used for detecting the motion state of the arm; the first camera is arranged on the side face of the intelligent bracelet body and used for collecting hand images when the wrist joints drive the hands to move towards the outer side; the second camera sets up the side of intelligence bracelet wrist strap for gather the wrist joint and drive the hand towards the hand image when inboard motion, first camera with the second camera is towards the equidirectional.
Optionally, the smart band further comprises: and the data processing part is used for acquiring the motion state of the hand driven by the wrist joint according to the hand images acquired by the first camera and the second camera.
Optionally, the data processing unit obtains a motion state of the hand driven by the wrist joint according to at least one feature point on the contour line of the hand image.
Optionally, the data processing unit obtains the motion state of the end according to a predetermined relative position relationship between the smart band and the end of the welding gun held by the hand when the hand is driven by the wrist joint to be in each position, and the motion state of the arm and the motion state of the hand driven by the wrist joint.
Optionally, the smart band further comprises: and the warning part is used for giving a warning when the motion state of the end part exceeds the tolerance range.
Optionally, the smart band further comprises: a control part for adjusting the welding current of the welding gun according to the movement state of the end part; and/or the control part is used for adjusting the speed of supplying the welding flux to the welding gun according to the motion state of the end part.
According to a second aspect, an embodiment of the present invention provides an auxiliary welding device, including: the intelligent bracelet comprises an acceleration sensor, a first camera and a second camera, wherein the acceleration sensor is used for detecting the motion state of an arm; the first camera is arranged on the side face of the intelligent bracelet body and used for collecting hand images when the wrist joints drive the hands to move towards the outside; the second camera is arranged on the side face of the intelligent bracelet wrist strap and used for collecting hand images when the wrist joint drives the hand to move towards the inner side, and the first camera and the second camera face the same direction; the data processing portion is used for receiving the acceleration data of the acceleration sensor sent by the intelligent bracelet, and the first camera and the hand image collected by the second camera are used for acquiring the motion state of the hand driven by the wrist joint according to the hand image, and acquiring the motion state of the end according to the relative position relation between the ends of the welding gun held by the hand and the motion state of the arm and the motion state of the hand driven by the wrist joint when the hand is driven by the predetermined wrist joint to be in each position.
Optionally, the data processing part is further configured to send a warning signal to the smart band when the motion state of the end part exceeds a tolerance range; the intelligent bracelet further comprises a warning part for sending a warning when receiving the warning signal.
Optionally, the auxiliary welding device further comprises: a control part for adjusting the welding current of the welding gun according to the motion state of the end part; and/or the control part is used for adjusting the speed of supplying the welding flux to the welding gun according to the motion state of the end part.
According to a third aspect, an embodiment of the present invention provides an auxiliary welding method, including: acquiring the motion state of an arm; acquiring a hand image when a wrist joint drives a hand to move, and acquiring a motion state of the hand driven by the wrist joint according to the hand image; according to the method, when the hand is driven to be located at each position by a predetermined wrist joint, the relative position relation between the intelligent bracelet and the end of the welding gun held by the hand, the motion state of the arm and the motion state of the hand driven by the wrist joint are obtained, and the motion state of the end is obtained.
Optionally, the auxiliary welding method further comprises: and sending out a warning when the motion state of the end part exceeds a tolerance range.
Optionally, the auxiliary welding method further comprises: adjusting a welding current of the welding torch and/or a speed of supplying the welding material to the welding torch according to the movement state of the end portion.
According to the intelligent bracelet, the auxiliary welding device and the auxiliary welding method, the detection of the end part motion state is realized only through the acceleration sensor arranged in the intelligent bracelet and the two cameras respectively arranged on the intelligent bracelet body and the wrist strap, so that reference is provided for a welder to execute correct welding operation, the welder is facilitated to improve the welding quality, and a beginner is helped to quickly improve the welding skill.
According to the intelligent bracelet, the auxiliary welding device and the auxiliary welding method, the alarm part arranged in the intelligent bracelet is used for warning that the motion state of the end part of a welder exceeds the tolerance range, so that the welder can adjust the welding operation according to the alarm sent by the alarm part to improve the welding quality; for a beginner, the auxiliary welding method provided by the embodiment of the invention can prompt the beginner of wrong welding operation, so that the beginner is helped to rapidly improve the welding skill.
When the intelligent bracelet, the auxiliary welding device and the auxiliary welding method which are implemented by the invention are used together with the arc welding equipment, the welding current of the welding gun in the arc welding equipment can be adjusted according to the motion state of the end part, and the speed of supplying the welding flux to the welding gun can be adjusted according to the motion state of the end part, so that the heat output quantity per unit area is the same, and the welding quality is improved.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
FIG. 1 shows a schematic view of welding by means of a yaw bar;
FIG. 2 is a schematic diagram illustrating a welder wearing a smart bracelet according to an embodiment of the invention on his wrist and holding a welding gun by his hand;
fig. 3 shows a schematic view of a smart bracelet according to an embodiment of the invention;
fig. 4A schematically illustrates a schematic diagram of a first camera of the smart bracelet collecting an outline of a hand image according to an embodiment of the invention;
fig. 4B schematically shows a schematic diagram of a second camera of the smart band collecting an outline of a hand image according to the embodiment of the invention;
FIG. 5 schematically illustrates a schematic view of an acquired state of motion of an end of a welding gun;
FIG. 6 shows a schematic view of an auxiliary welding device according to an embodiment of the invention; and
FIG. 7 shows a flow chart of an auxiliary welding method according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious 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.
As described above, the moving speed and position of the end portion 11 of the welding gun 10 at different times are within the tolerance range, which is important for ensuring the welding quality, and since the temperature of the end portion 11 is extremely high and the volume of the end portion 11 is small when welding, various sensors cannot be mounted on the end portion 11. Therefore, the embodiment of the invention provides a scheme for controlling the manual welding quality by means of the intelligent bracelet.
Fig. 2 schematically illustrates a schematic diagram of a welder wearing a smart bracelet according to an embodiment of the present invention on a wrist of a welder, holding a welding gun 10 with a hand, wearing the smart bracelet 20 on the wrist of the welder, the smart bracelet 20 moving along with the movement of the arm of the welder, and an acceleration sensor, for example, a three-axis acceleration sensor, being built in the smart bracelet 20, so that the smart bracelet 20 can detect acceleration changes in x, y, and z-axis directions in real time as shown in the figure, and further can know the speed and movement amplitude of the smart bracelet at each time, and further can detect the movement state of the arm of the welder in real time. In this context, the motion state includes the speed and the movement amplitude at each moment, for example, the motion state of the arm, i.e., the speed and the movement amplitude of the arm at each moment. However, when the welder performs the welding operation, the welder drives the hand to move along with the wrist joint, and further drives the end portion 11 to move, so that the movement state of the end portion 11 cannot be obtained only by detecting the movement state of the arm of the welder, and the movement state of the hand driven by the wrist joint of the welder needs to be detected. For a certain welder, when the wrist joint control hand is at a certain determined position, the relative position relationship between the smart bracelet 20 and the end portion 11 is determined, so that a position mapping relationship can be established between the smart bracelet 20 and the end portion 11 when the wrist joint control hand is at the certain determined position. In this embodiment, when the wrist joint of the welder drives the hand to be located at different positions, the relative position relationship between the smart bracelet 20 and the end portion 11 may be predetermined, so that the data processing unit (not shown in the figure) can obtain the motion state of the end portion 11 through the predetermined relative position relationship between the smart bracelet 20 and the end portion 11 when the wrist joint drives the hand to be located at each position, the motion state of the arm obtained in real time, and the motion state of the hand driven by the wrist joint, that is, the speed and the movement amplitude of the end portion 11 at each time are obtained. As different people have different arm lengths or wrist joint actions, as an optional implementation mode, the relative position relation between the intelligent bracelet 20 and the end part 11 when the wrist joints drive the hands to be at each position is respectively predetermined for different welders. In the present embodiment, the data processing part may be built in the smart band 20, and those skilled in the art will understand that the data processing part may also be externally disposed on the smart band 20.
As described above, the motion state of the arm of the welder can be detected by the built-in three-axis acceleration sensor of the smart bracelet 20, and the current smart bracelet cannot detect the motion state of the hand driven by the wrist joint. For this reason, as shown in fig. 3, in the smart band 20 according to the embodiment of the present invention, a first camera 23 is disposed on a side surface of a body 21 of the smart band 20, a second camera 24 is disposed on a side surface of a wrist band 22 of the smart band 20, and the first camera 23 and the second camera 24 face the same direction. The first camera 23 is used for collecting hand images when the wrist joints drive the hands to move towards the outer side, and the second camera 24 is used for collecting hand images when the wrist joints drive the hands to move towards the inner side. As an optional implementation manner, the first camera 23 is disposed in the middle of the side surface of the body 21, and the second camera 24 is disposed in the middle of the side surface of the wrist strap 22, that is, the projection of the first camera 23 in the vertical direction coincides with the position of the second camera 24, so that the first camera 23 and the second camera 24 can both acquire hand images when the wrist joint drives the hand to be in different positions. Preferably, the first camera 23 and the second camera 24 each employ a wide-angle lens.
In order to process the image more quickly, as an alternative embodiment, the focal distance of the lenses used by the first camera 23 and the second camera 24 may be in the range of 5-15 cm, and a smaller depth of field is used, so that the images except for the hand image can be filtered out, and the data processing part can perform image processing quickly. As another alternative, the data processing unit may filter out other details of the hand images captured by the first camera 23 and the second camera 24, and only retain the contour lines of the hand images, so as to perform image processing quickly.
Fig. 4A schematically shows a schematic diagram of the first camera 23 acquiring the contour line of the hand image, which is wavy, and the crest part is the metacarpophalangeal joint part due to the fist shape of the hand holding the welding gun; fig. 4B schematically shows a schematic diagram of the second camera 24 capturing the contour line of the hand image, which is also wavy, and the peak portion is the interphalangeal joint. When the wrist joint drives the hand to move outwardsIn the side motion, the first camera 23 acquires a hand image, and in the example of fig. 4A, the solid line is t 1 Contour line of hand image at time, dotted line being t 2 In the contour line of the hand image at that time, the data processing unit may select a feature point on the contour line of the hand image, for example, a peak of a certain wave peak of the wavy contour line as the feature point. When the wrist joint drives the hand to move inwards, the first camera 23 cannot acquire the hand image, and at this time, the smart bracelet 20 acquires the hand image through the second camera 24, in the example of fig. 4B, the solid line is t 3 Contour line of hand image at time, dotted line being t 4 Similarly, the data processing unit may select a feature point on the contour line of the hand image, for example, a peak of a wave of the wavy contour line.
In the example of fig. 4A, the vertex of the metacarpophalangeal joint of the middle finger is selected as the feature point, and in the example of fig. 4B, the vertex of the interphalangeal joint of the middle finger is selected as the feature point, it should be understood by those skilled in the art that the data processing unit may also select other points on the contour line of the hand image as the feature point, for example, the vertices of joints of other fingers may be selected as the feature point, or the bottoms of valleys between joints of any two fingers may be selected as the feature point, and of course, a plurality of feature points may also be selected, so that the motion state of the hand driven by the wrist joint can be more accurately represented.
As shown in FIG. 4A, the feature points are selected from t 1 Time t 2 The hand moving device moves right and up in the collected hand image at any time, and the data processing part can map the position change of the feature points to a real world coordinate system according to the lens parameters of the first camera 23, so that the motion state of the wrist joint driving the hand to move outwards is obtained. Similarly, as shown in FIG. 4B, the feature points are selected from t 3 Time t 4 The hand moves to the lower left in the acquired hand image at any time, and the data processing part can map the position change of the feature points to a real world coordinate system according to the lens parameters of the second camera 24, so that the motion state of the wrist joint driving the hand to move inwards is obtained.
Because it has been confirmed in advance that the wrist joint drives the relative position relation between intelligent bracelet and the tip when hand is in each position, data processing portion can drive the motion state of hand according to the motion state of the welder's arm that the built-in acceleration sensor of intelligent bracelet 20 detected to and the wrist joint that the hand image that gathers through first camera 23 and second camera 24 acquireed, thereby acquire the motion state of tip. Therefore, the intelligent bracelet provided by the embodiment of the invention can detect the motion state of the end part only through the built-in acceleration sensor and the two cameras respectively arranged on the intelligent bracelet body and the wrist strap, so that reference is provided for a welder to execute correct welding operation, the welder is facilitated to improve the welding quality, and a beginner is helped to quickly improve the welding skill.
Fig. 5 schematically illustrates a schematic diagram of the acquired motion state of the end of the welding gun, wherein a solid line is a deviation of the position of the end from the target welding track, a dashed dotted line is a moving speed of the end, a tolerance range is between two dotted lines, and the warning portion of the smart band 20 may warn when the motion state of the end exceeds the tolerance range. In an alternative embodiment, the warning portion may be a vibration motor built in the smart band 20, for example. The skilled person can set different warnings according to different conditions exceeding the tolerance range, for example, at the time a, the moving speed of the end part exceeds the tolerance range, and at this time, the vibration motor can vibrate for one time; at the moment C, the deviation between the position of the end part and the target welding track exceeds the tolerance range, and the vibration motor can vibrate for two times; at the moment B, the moving speed of the end part and the deviation between the position of the end part and the target welding track exceed the tolerance range, and the vibration motor can vibrate for two times; if the moving speed and the position deviation exceed the tolerance range, the vibration motor continuously and strongly vibrates. Of course, the warning portion is not limited to the vibrating motor, and may be a buzzer, and the warning portion warns the movement state of the end portion of the welder beyond the tolerance range through sound. Therefore, the intelligent bracelet provided by the embodiment of the invention warns the movement state of the end part of the welder to exceed the tolerance range through the built-in warning part, so that the welder can adjust the welding operation according to the warning sent by the warning part to improve the welding quality; for the beginner, the intelligent bracelet provided by the embodiment of the invention can prompt the beginner of wrong welding operation, so that the beginner is helped to quickly improve the welding skill.
Accordingly, as shown in fig. 6, an embodiment of the present invention further provides an auxiliary welding device, which may include a smart band 20 and a data processing part 30 externally disposed on the smart band 20. As described above, the smart band 20 may include an acceleration sensor for detecting a motion state of an arm, a first camera, and a second camera; the first camera is arranged on the side face of the intelligent bracelet body and used for collecting hand images when the wrist joints drive the hands to move towards the outside; the second camera sets up the side at intelligent bracelet wrist strap for gather the hand image when wrist joint drives the inboard motion of hand, first camera and second camera orientation equidirectional, further concrete content can refer to the relevant description in the above. The data processing portion 30 is used for receiving acceleration data of the acceleration sensor sent by the intelligent bracelet 20, hand images collected by the first camera and the second camera, acquiring a motion state of the hand driven by the wrist joint according to the hand images, acquiring a motion state of the end portion 11 according to a relative position relation between the intelligent bracelet 20 and the end portion 11 when the hand is driven by the predetermined wrist joint to be located at each position, and a motion state of the arm and a motion state of the hand driven by the wrist joint, and acquiring the motion state of the end portion 11.
The data processing ability of the built-in treater of conventional intelligent bracelet is limited, can't satisfy the very high requirement of motion state detection real-time nature to the tip, if promote the data processing ability of the built-in treater of each intelligent bracelet, can promote the cost of intelligent bracelet by a wide margin undoubtedly, consequently, adopt the data processing portion of external intelligent bracelet in this embodiment, it has powerful data processing ability, especially to image data's throughput to can reduce the time delay of obtaining the motion state of tip. In the present embodiment, the data processing unit 30 may be, for example, a general-purpose computer, which is in communication connection with one or more smart bracelets 20 in a wired or wireless manner, preferably in communication connection with the smart bracelets 20 in a wireless manner, for example, in a WIFI or bluetooth manner. When a plurality of welders are simultaneously welding in the work site, the data processing unit 30 may receive data transmitted from the smart bracelets 20 respectively worn by the plurality of welders, and thereby obtain the motion state of the end of the welding gun held by the plurality of welders. In an optional embodiment, for a large-sized complex workpiece, multiple welders are required to perform cooperative welding, and the data processing unit 30 can send an instruction to the smart bracelet 20 worn by multiple welders when acquiring the motion state of the end of the welding gun held by the multiple welders, so that the multiple welders can perform cooperative welding, and the welding quality is improved.
As described above, the data processing portion 30 is further configured to send a warning signal to the smart bracelet 20 when the motion state of the end portion 11 exceeds the tolerance range, and the warning portion of the smart bracelet 20 sends a warning when receiving the warning signal, and the warning portion may be, for example, a vibration motor built in the smart bracelet 20. Similarly, those skilled in the art may set different warnings according to different conditions outside the tolerance range, such as vibration Ma Daduan vibrating once when the moving speed of the end portion exceeds the tolerance range, vibration Ma Daduan vibrating twice when the position of the end portion deviates from the target welding track, vibration Ma Dachang vibrating twice when the moving speed of the end portion and the position of the end portion deviate from the target welding track exceed the tolerance range, and if the moving speed and the position deviation exceed the tolerance range for multiple times, the vibration motor continues to vibrate strongly.
The intelligent bracelet or the auxiliary welding device provided by the embodiment of the invention can be matched with arc welding equipment for use. While the power supply of existing arc welding devices provides a fixed welding current to the welding torch, some arc welding devices also automatically supply solder to the welding torch so that the welder can concentrate on the welding operation, often also at a constant rate. In order to stabilize the welding quality, the heat output per unit area needs to be the same, for the welding mode of the horizontal swinging bar, especially for complex workpieces to be welded, the arc irradiation time of different welding positions is different, the heat output per unit area is different when the welding gun is provided with fixed welding current and the welding flux is supplied at a fixed speed, so that the welding quality is unstable, and the manual adjustment of the welding current or the speed of the welding flux can prevent a welder from focusing on the welding operation and also can reduce the welding quality.
The intelligent bracelet provided by the embodiment of the invention can acquire the motion state of the end part in real time, so that when the intelligent bracelet is matched with arc welding equipment for use, the welding current of a welding gun in the arc welding equipment can be adjusted according to the motion state of the end part, and the speed of supplying the welding flux to the welding gun can be adjusted according to the motion state of the end part, so that the heat output quantity per unit area is the same, and the welding quality is improved. The intelligent bracelet provided by the embodiment of the invention can send the control instruction to the arc welding equipment in wireless communication modes such as Bluetooth and NFC.
Similarly, when the auxiliary welding device according to the embodiment of the invention is used in cooperation with an arc welding apparatus, the welding current of the welding torch in the arc welding apparatus can be adjusted according to the movement state of the end portion, and the speed of supplying the solder to the welding torch can be adjusted according to the movement state of the end portion, so that the heat output per unit area is the same, and the welding quality is improved. The auxiliary welding device of the embodiment of the invention can send the control command to the arc welding equipment in a wired or wireless mode.
As shown in fig. 7, an embodiment of the present invention further provides an auxiliary welding method, which may include the following steps:
s11, obtaining the motion state of the arm.
The motion state of the arm can be obtained through an acceleration sensor built in the smart band worn on the wrist, and further details can be described with reference to fig. 2.
S12, acquiring hand images when the wrist joints drive the hands to move, and acquiring the motion state of the hands driven by the wrist joints according to the hand images.
The motion state of the hand driven by the wrist joint can be obtained through hand images collected by a first camera and a second camera which are arranged on the smart bracelet, wherein the first camera is arranged on the side surface of the smart bracelet body and is used for collecting hand images when the hand is driven by the wrist joint to move towards the outside; the second camera sets up the side at intelligent bracelet wrist strap for gather the hand image when wrist joint drives the inboard motion of hand orientation, first camera and second camera orientation equidirectional. Further details may be found in relation to fig. 3, 4A and 4B.
S13, acquiring the motion state of the end part according to the relative position relation between the intelligent bracelet and the end part of the welding gun held by the hand when the hand is driven to be located at each position by the predetermined wrist joint, the motion state of the arm and the motion state of the hand driven by the wrist joint.
Therefore, the auxiliary welding method provided by the embodiment of the invention realizes the detection of the end part motion state only through the acceleration sensor arranged in the intelligent bracelet and the two cameras respectively arranged on the intelligent bracelet body and the wrist strap, so that a reference is provided for a welder to execute correct welding operation, the welding quality is improved for the welder, and a beginner is helped to quickly improve the welding skill.
As an alternative implementation, as shown in fig. 7, the auxiliary welding method according to the embodiment of the present invention may further include:
and S14, warning when the motion state of the end part exceeds the tolerance range. Further details may be found in relation to fig. 5.
According to the auxiliary welding method, the warning part arranged in the intelligent bracelet is used for warning that the movement state of the end part of the welder exceeds the tolerance range, so that the welder can adjust the welding operation according to the warning sent by the warning part, and the welding quality is improved; for a beginner, the auxiliary welding method provided by the embodiment of the invention can prompt the beginner of wrong welding operation, so that the beginner is helped to rapidly improve the welding skill.
As another alternative, as shown in fig. 7, the auxiliary welding method according to the embodiment of the present invention may further include:
and S15, adjusting the welding current of the welding gun and/or the speed of supplying the welding flux to the welding gun according to the motion state of the end part.
When the auxiliary welding method provided by the embodiment of the invention is matched with arc welding equipment for use, the welding current of the welding gun and/or the speed of supplying the welding flux to the welding gun can be adjusted according to the movement state of the end part, so that the heat output per unit area is the same, and the welding quality is improved.
Specific details of each method step in the above-mentioned auxiliary welding method embodiment may be understood by referring to the corresponding related description and effects in the above-mentioned intelligent bracelet or auxiliary welding device embodiment, and are not described herein again.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (8)
1. An intelligent bracelet, comprising:
the acceleration sensor is used for detecting the motion state of the arm;
the first camera is arranged on the side face of the intelligent bracelet body and used for collecting hand images when the wrist joints drive the hands to move towards the outside;
the second camera is arranged on the side surface of the intelligent bracelet wrist strap and used for collecting hand images when the wrist joints drive hands to move towards the inner side, and the first camera and the second camera face the same direction;
the data processing part is used for acquiring the motion state of the hand driven by the wrist joint according to the hand images acquired by the first camera and the second camera; and acquiring the motion state of the end part according to the relative position relation between the intelligent bracelet and the end part of the welding gun held by the hand part when the hand part is driven by the predetermined wrist joint to be positioned at each position, the motion state of the arm and the motion state of the hand part driven by the wrist joint.
2. The smart bracelet of claim 1, wherein the data processing unit obtains a motion state of a hand driven by a wrist joint according to at least one feature point on the contour line of the hand image.
3. The smart bracelet of claim 1, further comprising:
and the warning part is used for giving a warning when the motion state of the end part exceeds the tolerance range.
4. The smart bracelet of claim 1, further comprising:
a control part for adjusting the welding current of the welding gun according to the movement state of the end part; and/or
The control part is used for adjusting the speed of supplying the welding flux to the welding gun according to the movement state of the end part.
5. An auxiliary welding device, comprising:
the intelligent bracelet comprises an acceleration sensor, a first camera and a second camera, wherein the acceleration sensor is used for detecting the motion state of an arm; the first camera is arranged on the side face of the intelligent bracelet body and used for collecting hand images when the wrist joints drive the hands to move towards the outside; the second camera is arranged on the side face of the intelligent bracelet wrist strap and used for collecting hand images when the wrist joints drive hands to move towards the inner side, and the first camera and the second camera face the same direction;
the data processing portion is used for receiving the acceleration data of the acceleration sensor sent by the intelligent bracelet, and the first camera and the hand image collected by the second camera are used for acquiring the motion state of the hand driven by the wrist joint according to the hand image, and acquiring the motion state of the end according to the relative position relation between the ends of the welding gun held by the hand and the motion state of the arm and the motion state of the hand driven by the wrist joint when the hand is driven by the predetermined wrist joint to be in each position.
6. The auxiliary welding device according to claim 5, wherein the data processing part is further configured to send a warning signal to the smart bracelet when the motion state of the end part is out of a tolerance range;
the intelligent bracelet further comprises a warning part for sending a warning when receiving the warning signal.
7. Auxiliary welding device according to claim 5 or 6, further comprising:
a control part for adjusting the welding current of the welding gun according to the movement state of the end part; and/or
The control part is used for adjusting the speed of supplying the welding flux to the welding gun according to the movement state of the end part.
8. An auxiliary welding method using the smart bracelet of any one of claims 1-4 or the auxiliary welding device of any one of claims 5-7, comprising:
acquiring the motion state of an arm;
acquiring a hand image when a wrist joint drives a hand to move, and acquiring a motion state of the hand driven by the wrist joint according to the hand image;
according to the method, when the hand is driven to be located at each position by a predetermined wrist joint, the relative position relation between the intelligent bracelet and the end of the welding gun held by the hand, the motion state of the arm and the motion state of the hand driven by the wrist joint are obtained, and the motion state of the end is obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210006433.2A CN114451641B (en) | 2022-01-05 | 2022-01-05 | Intelligent bracelet, auxiliary welding device and method |
Applications Claiming Priority (1)
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| CN114451641A (en) | 2022-05-10 |
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