CN116359231B - Weld quality detection method, system and platform - Google Patents

Weld quality detection method, system and platform Download PDF

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Publication number
CN116359231B
CN116359231B CN202310626117.XA CN202310626117A CN116359231B CN 116359231 B CN116359231 B CN 116359231B CN 202310626117 A CN202310626117 A CN 202310626117A CN 116359231 B CN116359231 B CN 116359231B
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product
detected
feeding
module
sending
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CN116359231A (en
Inventor
张俊峰
杨兴波
陈炯标
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Supersonic Artificial Intelligence Technology Co ltd
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Supersonic Artificial Intelligence Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G01N21/13—Moving of cuvettes or solid samples to or from the investigating station
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/30—Computing systems specially adapted for manufacturing

Abstract

The invention discloses a welding seam quality detection method, a welding seam quality detection system and a welding seam quality detection platform, which are used for judging whether to perform feeding operation of a product to be detected or not after judging the condition that a camera assembly is at an initial position, so that the camera assembly which is not at the initial position is prevented from being damaged in the feeding process of the product to be detected, and the feeding operation is completed more safely and reliably; in the feeding process, when coarse positioning is not performed, the mechanical arm adjusts the product to be detected again to finish coarse positioning; and when the coarse positioning is finished, the jacking component is started to accurately position, so that the camera component above the scanning detection area performs omnibearing scanning on the product to be detected placed on the scanning detection area, and analyzes the scanning photographed data, and when the welding seam of the product to be detected does not meet the preset requirement, an alarm prompt is sent out, so that the quality detection of the welding seam of the product is performed under high efficiency and high precision. The welding seam quality detection method, system and platform improve the welding seam detection efficiency and detection quality.

Description

Weld quality detection method, system and platform
Technical Field
The invention relates to the technical field of weld joint detection, in particular to a weld joint quality detection method, a weld joint quality detection system and a weld joint quality detection platform.
Background
With the continuous progress and development of welding technology, the application occasions of the welding technology are also gradually wide, and the welding technology plays a vital role in material connection. For a weld joint with a sealing requirement, the quality of the weld joint needs to be detected to judge whether the weld joint is qualified or not. The welding seam is formed by melting and connecting the welding rod and the metal at the joint by utilizing the high temperature of a welding heat source, and defects can be generated in the welding process, so that the welding seam of a product needs to be detected according to the detection requirement, and the reasons for the defects are analyzed.
Currently, in the field of new energy, a battery pack for a new energy automobile often adopts a metal plate to integrate a plurality of electric cores, a circuit board and other electronic components in a shell formed by the metal plate, and the connection among the metal plates, the connection among the plurality of electric cores, the connection among the circuit board and other electronic components and the like are usually connected in a welding manner, and particularly the quality of the welding connection among the metal plates directly influences the safety of the subsequent use of the battery pack. In order to judge the welding condition of the welding seam, the prior art often adopts a visual detection mode to finish the detection of the welding condition of the welding seam.
However, when the traditional visual detection method detects the welding line of the metal plate outside the battery pack of the product, the detection method is unreasonable, the structural design of the detection device is unreasonable, and particularly the setting of the visual camera often cannot meet the requirement of accurately scanning all welding areas of the appearance of the product, so that the welding quality of the welding line of the product cannot be accurately reflected under the recognition judgment of a computer due to the data obtained after the scanning of the visual camera, the problem of high misjudgment rate exists, and the current high-quality detection requirement of the welding line of the product cannot be better met.
Disclosure of Invention
Based on the above, it is necessary to provide a method, a system and a platform for detecting the quality of a weld, aiming at the technical problem of how to improve the efficiency and the quality of weld detection.
A welding seam quality detection method comprises the following steps:
acquiring position information of a camera component and judging whether the camera component is at an initial position;
when the camera component is positioned at the initial position, a feeding instruction is sent to the feeding mechanical arm so as to send the product to be detected into a scanning detection area of the detection platform;
judging whether the pressure value of a feeding side guide plate at the left end side in the scanning detection area is zero or not;
if yes, a left shift instruction is sent to the feeding manipulator to adjust the position of the product to be detected in the scanning detection area until the pressure value of the guide plate at the feeding side is greater than zero;
if not, judging whether the pressure value of the feeding rear guide plate at the rear end side of the scanning detection area is zero;
if yes, sending an advancing instruction to the feeding manipulator to adjust the position of the product to be detected in the scanning detection area until the pressure value of the guide plate after feeding is greater than zero;
if not, a jacking instruction is sent to the jacking component so as to start the jacking component, and the product to be detected in the scanning detection area is jacked to a preset height;
when the product to be detected is lifted to a preset height, sending a scanning shooting instruction to the camera assembly so as to start the camera assembly, and enabling the camera assembly to shoot and scan the welding line of the product to be detected along a preset path;
and analyzing the welding seam data of the product to be detected, which is shot and acquired by the camera component, and sending out an alarm prompt when the welding seam of the product to be detected does not meet the preset requirement.
In one embodiment, when the camera assembly is located at the initial position, the step of sending a feeding command to the feeding manipulator to send the product to be detected to the scanning detection area of the detection platform includes:
releasing the feeding inhibition warning to turn off a warning lamp on the electric cabinet;
and sending a feeding instruction to a feeding mechanical arm so as to send the product to be detected into a scanning detection area of the detection platform.
In one embodiment, the step of acquiring the position information of the camera assembly and determining whether the camera assembly is in the initial position includes:
acquiring operation data of the X-axis module, the Y-axis module and the Z-axis module;
and analyzing according to the operation data to obtain the current position information of the camera component, and comparing the current position information with the initial position information to obtain the judgment.
In one embodiment, if the camera assembly is not at the initial position, an initial position adjustment command is sent to the X-axis module, the Y-axis module and the Z-axis module, so that the X-axis module, the Y-axis module and the Z-axis module together convey the camera assembly to the initial position.
A weld quality inspection system, comprising:
the acquisition module is used for acquiring the position information of the camera component and judging whether the camera component is at an initial position or not;
the first sending module is used for sending a feeding instruction to the feeding manipulator to send the product to be detected into the scanning detection area of the detection platform when the camera component is positioned at the initial position;
the first judging module is used for judging whether the pressure value of the feeding side guide plate at the left end side in the scanning detection area is zero or not;
the second sending module is used for sending a left shift instruction to the feeding manipulator when the pressure value of the feeding side guide plate is zero so as to adjust the position of the product to be detected in the scanning detection area until the pressure value of the feeding side guide plate is greater than zero;
the second judging module is used for judging whether the pressure value of the feeding rear guide plate at the rear end side of the scanning detection area is zero or not when the pressure value of the feeding side guide plate is larger than zero;
the third sending module is used for sending an advancing instruction to the feeding manipulator when the pressure value of the fed guide plate is zero so as to adjust the position of the product to be detected in the scanning detection area until the pressure value of the fed guide plate is greater than zero;
the fourth sending module is used for sending a jacking instruction to the jacking assembly when the pressure value of the guide plate after feeding is greater than zero so as to start the jacking assembly and jack the product to be detected in the scanning detection area to a preset height;
the fifth sending module is used for sending a scanning shooting instruction to the camera assembly when the product to be detected is lifted to a preset height so as to start the camera assembly, so that the camera assembly shoots and scans the welding seam of the product to be detected along a preset path;
the analysis module is used for analyzing the welding seam data of the product to be detected, which is shot and acquired by the camera component, and sending an alarm prompt when the welding seam of the product to be detected does not meet the preset requirement.
In one embodiment, the first transmitting module includes:
the release submodule is used for releasing the feeding prohibition warning so as to turn off a warning lamp on the electric cabinet;
and the first sending submodule is used for sending a feeding instruction to the feeding mechanical arm so as to send the product to be detected into the scanning detection area of the detection platform.
In one embodiment, the acquiring module includes:
the acquisition sub-module is used for acquiring the operation data of the X-axis module, the Y-axis module and the Z-axis module;
and the comparison module is used for analyzing and obtaining the current position information of the camera component according to the operation data, and comparing the current position information with the initial position information to obtain judgment.
In one embodiment, the obtaining module further includes an adjusting module, configured to send an initial position adjusting instruction to the X-axis module, the Y-axis module, and the Z-axis module when the camera module is not at the initial position, so that the X-axis module, the Y-axis module, and the Z-axis module together convey the camera module to the initial position.
A weld quality inspection platform comprising a weld quality inspection device and a computer device installed in the weld quality inspection device, the computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the steps of the method described in any of the embodiments above when the computer program is executed.
A weld quality inspection platform comprising a weld quality inspection apparatus having a processor and a computer readable storage medium storing a computer program which when executed by the processor performs the steps of the method of any of the embodiments described above.
According to the welding seam quality detection method, the welding seam quality detection system and the welding seam quality detection platform, whether the feeding operation of the product to be detected is performed is determined after the condition that the camera assembly is at the initial position is judged, so that the camera assembly which is not at the initial position is prevented from being damaged in the feeding process of the product to be detected, and the feeding operation is completed more safely and reliably; in the feeding process, whether the product to be detected is subjected to coarse positioning in the scanning detection area can be judged by acquiring the pressure values of the guide plate at the feeding side and the guide plate after feeding, and when the coarse positioning is not performed, the product to be detected is adjusted again by the mechanical arm so as to finish the coarse positioning; and when the coarse positioning is finished, the jacking component is started to accurately position, so that the camera component above the scanning detection area performs omnibearing scanning on the product to be detected placed on the scanning detection area, so as to accurately scan and detect the welding condition of the welding seam of the product to be detected, and analyze the scanning photographed data, and when the welding seam of the product to be detected does not meet the preset requirement, an alarm prompt is sent out, so that the quality detection of the welding seam of the product is performed under high efficiency and high precision. The welding seam quality detection method, system and platform improve the welding seam detection efficiency and detection quality.
Drawings
FIG. 1 is a flow chart illustrating steps of a weld quality inspection method according to one embodiment;
FIG. 2 is a schematic diagram of a weld inspection apparatus according to one embodiment;
FIG. 3 is a schematic view of a structure of a use state of a weld detecting apparatus;
FIG. 4 is a schematic view showing a partial structure of a weld detecting apparatus in one embodiment;
FIG. 5 is a schematic view of a camera mounting bracket and a camera assembly connection structure of a weld inspection apparatus according to one embodiment;
FIG. 6 is a schematic view of another view of a partial structure of the weld inspection apparatus in the embodiment of FIG. 5;
FIG. 7 is a schematic diagram illustrating a view of a lift assembly according to one embodiment;
FIG. 8 is a schematic diagram illustrating an alternative view of a jacking assembly according to one embodiment;
FIG. 9 is a schematic diagram of a weld inspection apparatus according to one embodiment.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below. In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
As shown in fig. 1, the invention provides a weld quality detection method, which comprises the following steps:
acquiring position information of a camera component and judging whether the camera component is at an initial position;
when the camera component is positioned at the initial position, a feeding instruction is sent to the feeding mechanical arm so as to send the product to be detected into a scanning detection area of the detection platform;
judging whether the pressure value of a feeding side guide plate at the left end side in the scanning detection area is zero or not;
if yes, a left shift instruction is sent to the feeding manipulator to adjust the position of the product to be detected in the scanning detection area until the pressure value of the guide plate at the feeding side is greater than zero;
if not, judging whether the pressure value of the feeding rear guide plate at the rear end side of the scanning detection area is zero;
if yes, sending an advancing instruction to the feeding manipulator to adjust the position of the product to be detected in the scanning detection area until the pressure value of the guide plate after feeding is greater than zero;
if not, a jacking instruction is sent to the jacking component so as to start the jacking component, and the product to be detected in the scanning detection area is jacked to a preset height;
when the product to be detected is lifted to a preset height, sending a scanning shooting instruction to the camera assembly so as to start the camera assembly, and enabling the camera assembly to shoot and scan the welding line of the product to be detected along a preset path;
and analyzing the welding seam data of the product to be detected, which is shot and acquired by the camera component, and sending out an alarm prompt when the welding seam of the product to be detected does not meet the preset requirement.
According to the welding seam quality detection method, whether the feeding operation of the product to be detected is performed is determined after the condition that the camera assembly is at the initial position is judged, so that the camera assembly which is not at the initial position is prevented from being damaged in the feeding process of the product to be detected, and the feeding operation is completed more safely and reliably; in the feeding process, whether the product to be detected is subjected to coarse positioning in the scanning detection area can be judged by acquiring the pressure values of the guide plate at the feeding side and the guide plate after feeding, and when the coarse positioning is not performed, the product to be detected is adjusted again by the mechanical arm so as to finish the coarse positioning; and when the coarse positioning is finished, the jacking component is started to accurately position, so that the camera component above the scanning detection area performs omnibearing scanning on the product to be detected placed on the scanning detection area, so as to accurately scan and detect the welding condition of the welding seam of the product to be detected, and analyze the scanning photographed data, and when the welding seam of the product to be detected does not meet the preset requirement, an alarm prompt is sent out, so that the quality detection of the welding seam of the product is performed under high efficiency and high precision.
In one embodiment, when the camera assembly is located at the initial position, the step of sending a feeding command to the feeding manipulator to send the product to be detected to the scanning detection area of the detection platform includes:
releasing the feeding inhibition warning to turn off a warning lamp on the electric cabinet;
and sending a feeding instruction to a feeding mechanical arm so as to send the product to be detected into a scanning detection area of the detection platform.
In one embodiment, the step of acquiring the position information of the camera assembly and determining whether the camera assembly is in the initial position includes:
acquiring operation data of the X-axis module, the Y-axis module and the Z-axis module;
and analyzing according to the operation data to obtain the current position information of the camera component, and comparing the current position information with the initial position information to obtain the judgment.
In one embodiment, if the camera assembly is not at the initial position, an initial position adjustment command is sent to the X-axis module, the Y-axis module and the Z-axis module, so that the X-axis module, the Y-axis module and the Z-axis module together convey the camera assembly to the initial position.
A weld quality inspection system, comprising: an acquisition module, a first transmission module, a first judgment module, a second transmission module, a second judgment module, a third transmission module, a fourth transmission module, a fifth transmission module and an analysis module,
and the acquisition module is used for acquiring the position information of the camera assembly and judging whether the camera assembly is at the initial position or not.
And the first sending module is used for sending a feeding instruction to the feeding manipulator to send the product to be detected into the scanning detection area of the detection platform when the camera component is positioned at the initial position.
And the first judging module is used for judging whether the pressure value of the feeding side guide plate at the left end side in the scanning detection area is zero.
And the second sending module is used for sending a left shift instruction to the feeding manipulator when the pressure value of the feeding side guide plate is zero so as to adjust the position of the product to be detected in the scanning detection area until the pressure value of the feeding side guide plate is greater than zero.
And the second judging module is used for judging whether the pressure value of the feeding rear guide plate at the rear end side of the scanning detection area is zero or not when the pressure value of the feeding side guide plate is larger than zero.
And the third sending module is used for sending an advancing instruction to the feeding manipulator when the pressure value of the fed guide plate is zero so as to adjust the position of the product to be detected in the scanning detection area until the pressure value of the fed guide plate is greater than zero.
And the fourth sending module is used for sending a jacking instruction to the jacking assembly when the pressure value of the guide plate after feeding is greater than zero so as to start the jacking assembly and jack up the product to be detected in the scanning detection area to a preset height.
And the fifth sending module is used for sending a scanning shooting instruction to the camera assembly when the product to be detected is lifted to a preset height so as to start the camera assembly, so that the camera assembly shoots and scans the welding seam of the product to be detected along a preset path.
The analysis module is used for analyzing the welding seam data of the product to be detected, which is shot and acquired by the camera component, and sending an alarm prompt when the welding seam of the product to be detected does not meet the preset requirement.
According to the welding seam quality detection system, whether the feeding operation of the product to be detected is performed is determined after the condition that the camera assembly is at the initial position is judged, so that the camera assembly which is not at the initial position is prevented from being damaged in the feeding process of the product to be detected, and the feeding operation is completed safely and reliably. In the feeding process, whether the product to be detected is subjected to coarse positioning in the scanning detection area can be judged by acquiring the pressure values of the guide plate at the feeding side and the guide plate after feeding, and the product to be detected is readjusted by the manipulator to finish coarse positioning when the coarse positioning is not performed. And when the coarse positioning is finished, the jacking component is started to accurately position, so that the camera component above the scanning detection area performs omnibearing scanning on the product to be detected placed on the scanning detection area, so as to accurately scan and detect the welding condition of the welding seam of the product to be detected, and analyze the scanning photographed data, and when the welding seam of the product to be detected does not meet the preset requirement, an alarm prompt is sent out, so that the quality detection of the welding seam of the product is performed under high efficiency and high precision.
In one embodiment, the first transmitting module includes:
and the release sub-module is used for releasing the feeding inhibition warning so as to turn off the warning lamp on the electric cabinet.
And the first sending submodule is used for sending a feeding instruction to the feeding mechanical arm so as to send the product to be detected into the scanning detection area of the detection platform.
In one embodiment, the acquiring module includes:
and the acquisition sub-module is used for acquiring the operation data of the X-axis module, the Y-axis module and the Z-axis module.
And the comparison module is used for analyzing and obtaining the current position information of the camera component according to the operation data, and comparing the current position information with the initial position information to obtain judgment.
In one embodiment, the obtaining module further includes an adjusting module, configured to send an initial position adjusting instruction to the X-axis module, the Y-axis module, and the Z-axis module when the camera module is not at the initial position, so that the X-axis module, the Y-axis module, and the Z-axis module together convey the camera module to the initial position.
It should be noted that the present invention also provides a weld quality detection platform, including a weld quality detection device and a computer device, where the computer device is installed in the weld quality detection device, and the computer device includes a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described in any one of the embodiments above.
It should be noted that the present invention also provides a weld quality detection platform, including a weld quality detection apparatus having a processor, and a computer readable storage medium storing a computer program which, when executed by the processor, implements the steps of the method described in any of the embodiments above.
It can be appreciated that the welding seam quality detection method, the welding seam quality detection system and the welding seam quality detection platform can determine whether to perform the feeding operation of the product to be detected after judging the condition that the camera assembly is at the initial position, so that the camera assembly which is not at the initial position is prevented from being damaged in the feeding process of the product to be detected, and the feeding operation can be completed more safely and reliably. In the feeding process, whether the product to be detected is subjected to coarse positioning in the scanning detection area can be judged by acquiring the pressure values of the guide plate at the feeding side and the guide plate after feeding, and the product to be detected is readjusted by the manipulator to finish coarse positioning when the coarse positioning is not performed. And when the coarse positioning is finished, the jacking component is started to accurately position, so that the camera component above the scanning detection area performs omnibearing scanning on the product to be detected placed on the scanning detection area, so as to accurately scan and detect the welding condition of the welding seam of the product to be detected, and analyze the scanning photographed data, and when the welding seam of the product to be detected does not meet the preset requirement, an alarm prompt is sent out, so that the quality detection of the welding seam of the product is performed under high efficiency and high precision. The welding seam quality detection method, system and platform improve the welding seam detection efficiency and detection quality.
The weld quality detection method, the system and the platform of the invention need to take a weld detection device as an execution mechanism to finish the execution operation of weld quality detection. The construction and operation principle of the weld joint detection apparatus as an actuator will now be further described.
Referring to fig. 2 to 4, the present invention provides a weld detecting apparatus 10, the weld detecting apparatus 10 including: the electric cabinet 100, the camera mounting bracket 200 and the camera assembly 300, the top surface of the electric cabinet 100 is provided with a detection platform 101, the detection platform 101 is used for placing the product 90 to be detected, the camera mounting bracket 200 is mounted on the detection platform 101, the camera assembly 300 is mounted on the camera mounting bracket 200, and the camera assembly 300 is used for scanning and detecting welding seams of the product 90 to be detected.
The detection platform 101 includes a left mounting area 110, a scanning detection area 120, and a right mounting area 130, the scanning detection area 120 is located between the left mounting area 110 and the right mounting area 130, the camera mounting bracket 200 spans the scanning detection area 120 and is respectively mounted and fixed on the left mounting area 110 and the right mounting area 130, and the scanning detection area 120 is used for placing the product 90 to be detected.
The left end side of the scanning detection area 120 is provided with a feeding side guide plate 121, the rear end side of the scanning detection area 120 is provided with a feeding rear guide plate 122, the scanning detection area 120 is provided with a jacking component 123, and the feeding side guide plate 121 and the feeding rear guide plate 122 are jointly used for guiding a product to be detected to enter the scanning detection area 120 and accurately placed on the jacking component 123.
Above-mentioned welding seam detection equipment 10 sets up feeding side deflector 121 and sets up feeding back deflector 122 at the left end side of scanning detection zone 120 and at the rear end side of scanning detection zone 120, feeding side deflector 121 and feeding back deflector 122 guide the product that waits to detect get into scanning detection zone 120 jointly for wait to detect the product and accurately place on scanning detection zone 120, simultaneously, jacking subassembly 123 and place the product butt that waits to detect on scanning detection zone 120, jacking subassembly 123 can jack up the product that waits to detect upwards to the cooperation is located the camera subassembly 300 of scanning detection zone 120 top and carries out the omnidirectional scanning to the product that waits to detect of placing on scanning detection zone 120, in order to scan the welding condition of the welding seam of detecting this product 90 that waits to detect accurately. According to the welding seam detection equipment, the welding seam detection efficiency of a product to be detected can be effectively improved under the structural design, each welding seam on the product to be detected can be accurately scanned, and the welding seam detection quality can be effectively improved.
As shown in fig. 5 and 6, the camera assembly 300 includes an X-axis module 310, an X-axis traversing carriage 320, a 3D camera Y-axis module 330, a 2D camera Y-axis module 340, a 3D camera Z-axis module 350, a 2D camera Z-axis module 360, a 3D vision camera 370, and a 2D vision camera 380.
The X-axis module 310 is mounted at the top end of the camera mounting bracket 200, the X-axis traversing bracket 320 is in driving connection with the X-axis module 310, the X-axis module 310 is used for driving the X-axis traversing bracket 320 to move along the X-axis direction, and the 3D camera Y-axis module 330 and the 2D camera Y-axis module 340 are respectively disposed on two opposite sides of the X-axis traversing bracket 320.
The 3D camera Z-axis module 350 is in driving connection with the 3D camera Y-axis module 330, and the 3D camera Y-axis module 330 drives the 3D camera Z-axis module 350 to move along the length direction of the 3D camera Y-axis module 330.
The 2D camera Z-axis module 360 is in driving connection with the 2D camera Y-axis module 340, and the 2D camera Y-axis module 340 drives the 2D camera Z-axis module 360 to move along the length direction of the 2D camera Y-axis module 340.
The 3D vision camera 370 is mounted at the driving end of the 3D camera Z-axis module 350, and the 2D vision camera 380 is mounted at the driving end of the 2D camera Z-axis module 360.
In this way, the 3D camera Y-axis module 330 and the 2D camera Y-axis module 340 are respectively disposed on opposite sides of the X-axis lateral support 320, so that the 3D camera Y-axis module 330 and the 2D camera Y-axis module 340 can drive the 3D vision camera 370 and the 2D vision camera 380 to work simultaneously. The 3D camera Z-axis module 350 and the 2D camera Z-axis module 360 can adjust the distances between the 3D visual camera 370 and the 2D visual camera 380 and the product 90 to be detected according to the scanning requirement, so that the scanning image is clearer.
As shown in fig. 5 and 6, the top end of the camera mounting bracket 200 is provided with two cross bars 210, each cross bar 210 is provided with an X-axis module 310, one end of the X-axis traversing bracket 320 is in driving connection with one X-axis module 310, and the other end of the X-axis traversing bracket 320 is in driving connection with the other X-axis module 310. That is, the X-axis traversing carriage 320 spans the scan detection region 120 and is drivingly connected to the X-axis modules 310 on the two rails 210, respectively. The X-axis traversing carriage 320 is synchronously driven by the two X-axis modules 310, so that the X-axis traversing carriage 320 smoothly moves along the length direction of the cross bar 210, thereby providing a smooth scanning photographing environment for the 3D vision camera 370 and the 2D vision camera 380.
As shown in fig. 4, the number of the jacking components 123 is two, namely a first jacking component and a second jacking component, the first jacking component is disposed at the left end of the scanning detection area 120, the second jacking component is disposed at the right end of the scanning detection area 120, and the feeding side guide plate 121 and the feeding rear guide plate 122 are used for guiding the product to be detected to enter the scanning detection area 120 and accurately placed on the first jacking component and the second jacking component.
In this way, the first jacking component and the second jacking component are respectively abutted with the product to be detected placed on the scanning detection area 120, and the first jacking component and the second jacking component can jack up the product to be detected upwards so as to match the camera component 300 positioned above the scanning detection area 120 to perform omnibearing scanning on the product to be detected placed on the scanning detection area 120, so as to accurately scan and detect the welding condition of the welding seam of the product to be detected.
Further, the surface of the feeding side guide plate 121 is provided with a first pressure sensor, the surface of the feeding rear guide plate 122 is provided with a second pressure sensor, the first pressure sensor is used for collecting the pressure value received by the surface of the feeding side guide plate 121, and the second pressure sensor is used for collecting the pressure value received by the surface of the feeding rear guide plate 122. The first pressure sensor and the second pressure sensor are respectively and electrically connected with external computer equipment or an industrial personal computer so as to facilitate the external computer equipment or the industrial personal computer to collect pressure data.
As shown in fig. 7 and 8, the jacking assembly 123 includes two jacking brackets 1231, a jacking plate 1232 and jacking cylinders 1233, the number of the jacking brackets 1231 is two, the two jacking brackets 1231 are respectively installed and fixed in the scanning detection area 120, the top ends of the two jacking brackets 1231 are respectively connected with the jacking plate 1232 through telescopic rods 1234, the bottom ends of the jacking cylinders 1233 are installed and fixed in the scanning detection area 120, and the top output end of the jacking cylinders 1233 is connected with the bottom of the jacking plate 1232. In this way, under the action of the jacking cylinder 1233, the jacking plate 1232 can stably move along the telescopic direction of the jacking bracket 1231, so as to accurately jack up the product 90 to be detected to a predetermined position, so that the 3D vision camera 370 and the 2D vision camera 380 can more accurately collect the appearance weld image of the product 90 to be detected.
Further, the number of the jacking cylinders 1233 is two, and the top output ends of the two jacking cylinders 1233 are respectively connected with the bottom of the jacking plate 1232. The two jacking cylinders 1233 can provide more powerful power to jack up and support the product 90 to be inspected with higher quality.
Further, the output rod of the jacking cylinder 1233 is connected to the jacking plate 1232 through a load block 1235. The area of the force-bearing block 1235 in contact with the jacking plate 1232 is greater than the end area of the output rod of the jacking cylinder 1233. Like this, be connected with jacking plate 1232 through atress piece 1235, replace the output pole of jacking cylinder 1233 directly to be connected with jacking plate 1232, can make jacking cylinder 1233's output pole to jacking plate 1232 power dispersion to atress piece 1235 on, reduce the pressure that jacking plate 1232 received, improved jacking plate 1232's life.
Further, the jacking assembly 123 further includes a buffering limiter 1236, where the buffering limiter 1236 is disposed on the jacking bracket 1231 and below the jacking plate 1232. Further, the buffering limiting piece 1236 is a hydraulic buffering rod, and a silica gel cushion sleeve is arranged at the top of the buffering limiting piece 1236. Further, each jacking leg is provided with two buffer stop 1236. So, the jacking plate 1232 is in butt joint with the buffering locating part 1236 in the decline process, under the effect of hydraulic buffering, can make jacking plate 1232 realize the decline of moderation and stop steadily gradually, and silica gel blotter cover can avoid jacking plate 1232 direct and hydraulic buffer rod contact and impaired.
It should be noted that, the X-axis module 310, the 3D camera Y-axis module, the 2D camera Y-axis module, the 3D camera Z-axis module, the 2D camera Z-axis module, the 3D vision camera, and the 2D vision camera of the present invention are all commercial products, wherein, in order to increase the scanning area of the camera, the 3D vision camera may be provided with two sets, and the two sets of 3D vision cameras are respectively provided on the 3D camera Y-axis module side by side through the 3D camera Z-axis module.
Wherein, X axle module adopts 2 sets of double slide block linear motor modules, and the stroke is 2002. The Y-axis module adopts 2 sets of embedded sliding table modules with the model number of GTH 8-L20-950-BC-M40-C3. The Z-axis module adopts 2 sets of slipway modules with the model number of GTH 5-L20-150-BC-M10-C3. The 3D vision camera adopts 1 set or 2 sets of line laser measuring instrument cameras with model number LJ-X8060. The 2D vision camera adopts 1 set of industrial area array camera with model number of MV-CH120-10 UC.
As shown in fig. 9, the welding seam detection apparatus further has a cabinet cover 400, and the cabinet cover 400 is connected with the electrical cabinet 100 to form an apparatus housing having a rectangular parallelepiped structure as a whole. A feeding port 410 is arranged between the cabinet cover 400 and the electrical cabinet 100, and the feeding port 410 is communicated with the detection platform 101. The feeding port 410 is convenient for a feeding manipulator to put the product to be detected into the device, and coarse positioning is performed by the feeding side guide plate and the feeding rear guide plate. And starting the equipment, and jacking up the product with accurate positioning by the jacking component. Linear motor and lead screw module remove 2D camera+3D camera and scan the detection to the product, adopt two Y axle, 2D camera 3D camera subassembly simultaneous working, can adopt two sets of 3D cameras in order to increase the scanning area, satisfy and detect the beat demand.
It should be noted that the invention also comprises an industrial personal computer, the industrial personal computer is a model of Mihua i7-9700-256G solid-state-4T machine-3060 video card-8G video memory as a software operation platform, and is matched with a GPU of model RTX3060 for deep learning reasoning so as to analyze the image data collected by the 3D vision camera and the 2D vision camera, judge whether NG defects exist or not, and if so, give an alarm to the equipment. Meanwhile, the welding seam quality detection system also has the functions of uploading MES and the like.
It will be understood that the industrial personal computer, also referred to as a computer device in the weld quality detection platform according to the present invention, is installed in the weld quality detection device according to any one of the above embodiments, and includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the method according to any one of the above embodiments when executing the computer program. Of course, the industrial personal computer may also be integrated into the welding seam detection device in any of the above embodiments, where the welding seam quality detection platform of the present invention includes the welding seam quality detection device in any of the above embodiments, and a computer readable storage medium storing a computer program that when executed by a processor implements the steps of the method in any of the above embodiments.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (10)

1. The welding seam quality detection method is characterized by comprising the following steps of:
acquiring position information of a camera component and judging whether the camera component is at an initial position;
when the camera component is positioned at the initial position, a feeding instruction is sent to the feeding mechanical arm so as to send the product to be detected into a scanning detection area of the detection platform;
judging whether the pressure value of a feeding side guide plate at the left end side in the scanning detection area is zero or not;
if yes, a left shift instruction is sent to the feeding manipulator to adjust the position of the product to be detected in the scanning detection area until the pressure value of the guide plate at the feeding side is greater than zero;
if not, judging whether the pressure value of the feeding rear guide plate at the rear end side of the scanning detection area is zero;
if yes, sending an advancing instruction to the feeding manipulator to adjust the position of the product to be detected in the scanning detection area until the pressure value of the guide plate after feeding is greater than zero;
if not, a jacking instruction is sent to the jacking component so as to start the jacking component, and the product to be detected in the scanning detection area is jacked to a preset height;
when the product to be detected is lifted to a preset height, sending a scanning shooting instruction to the camera assembly so as to start the camera assembly, and enabling the camera assembly to shoot and scan the welding line of the product to be detected along a preset path;
and analyzing the welding seam data of the product to be detected, which is shot and acquired by the camera component, and sending out an alarm prompt when the welding seam of the product to be detected does not meet the preset requirement.
2. The method of claim 1, wherein the step of sending a loading command to a loading manipulator to feed the product to be inspected into the scanning inspection area of the inspection platform when the camera assembly is in the initial position comprises:
releasing the feeding inhibition warning to turn off a warning lamp on the electric cabinet;
and sending a feeding instruction to a feeding mechanical arm so as to send the product to be detected into a scanning detection area of the detection platform.
3. The weld quality inspection method according to claim 1, wherein the step of acquiring the positional information of the camera assembly and judging whether the camera assembly is in the initial position comprises:
acquiring operation data of the X-axis module, the Y-axis module and the Z-axis module;
and analyzing according to the operation data to obtain the current position information of the camera component, and comparing the current position information with the initial position information to obtain the judgment.
4. The method of claim 3, wherein if the camera assembly is not in the initial position, sending an initial position adjustment command to the X-axis module, the Y-axis module, and the Z-axis module to cause the X-axis module, the Y-axis module, and the Z-axis module to collectively transport the camera assembly to the initial position.
5. A weld quality inspection system, comprising:
the acquisition module is used for acquiring the position information of the camera component and judging whether the camera component is at an initial position or not;
the first sending module is used for sending a feeding instruction to the feeding manipulator to send the product to be detected into the scanning detection area of the detection platform when the camera component is positioned at the initial position;
the first judging module is used for judging whether the pressure value of the feeding side guide plate at the left end side in the scanning detection area is zero or not;
the second sending module is used for sending a left shift instruction to the feeding manipulator when the pressure value of the feeding side guide plate is zero so as to adjust the position of the product to be detected in the scanning detection area until the pressure value of the feeding side guide plate is greater than zero;
the second judging module is used for judging whether the pressure value of the feeding rear guide plate at the rear end side of the scanning detection area is zero or not when the pressure value of the feeding side guide plate is larger than zero;
the third sending module is used for sending an advancing instruction to the feeding manipulator when the pressure value of the fed guide plate is zero so as to adjust the position of the product to be detected in the scanning detection area until the pressure value of the fed guide plate is greater than zero;
the fourth sending module is used for sending a jacking instruction to the jacking assembly when the pressure value of the guide plate after feeding is greater than zero so as to start the jacking assembly and jack the product to be detected in the scanning detection area to a preset height;
the fifth sending module is used for sending a scanning shooting instruction to the camera assembly when the product to be detected is lifted to a preset height so as to start the camera assembly, so that the camera assembly shoots and scans the welding seam of the product to be detected along a preset path;
the analysis module is used for analyzing the welding seam data of the product to be detected, which is shot and acquired by the camera component, and sending an alarm prompt when the welding seam of the product to be detected does not meet the preset requirement.
6. The weld quality detection system of claim 5, wherein the first transmission module comprises:
the release submodule is used for releasing the feeding prohibition warning so as to turn off a warning lamp on the electric cabinet;
and the first sending submodule is used for sending a feeding instruction to the feeding mechanical arm so as to send the product to be detected into the scanning detection area of the detection platform.
7. The weld quality detection system of claim 5, wherein the acquisition module comprises:
the acquisition sub-module is used for acquiring the operation data of the X-axis module, the Y-axis module and the Z-axis module;
and the comparison module is used for analyzing and obtaining the current position information of the camera component according to the operation data, and comparing the current position information with the initial position information to obtain judgment.
8. The weld quality inspection system of claim 7, wherein the acquisition module further comprises an adjustment module for sending an initial position adjustment command to the X-axis module, the Y-axis module, and the Z-axis module to cause the X-axis module, the Y-axis module, and the Z-axis module to collectively transport the camera assembly to the initial position when the camera assembly is not in the initial position.
9. A weld quality inspection platform comprising a weld quality inspection device and a computer device installed in the weld quality inspection device, the computer device comprising a memory and a processor, the memory storing a computer program, the processor when executing the computer program implementing the steps of the method of any one of claims 1 to 4.
10. A weld quality inspection platform comprising a weld quality inspection apparatus having a processor and a computer readable storage medium storing a computer program which when executed by the processor performs the steps of the method of any one of claims 1 to 4.
CN202310626117.XA 2023-05-31 2023-05-31 Weld quality detection method, system and platform Active CN116359231B (en)

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US11921010B2 (en) * 2021-07-28 2024-03-05 Manufacturing Resources International, Inc. Display assemblies with differential pressure sensors

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CN105293070A (en) * 2015-12-04 2016-02-03 博格华纳汽车零部件（江苏）有限公司 Equipment and method for detecting weld joints of turbine components
JP2022179165A (en) * 2021-05-21 2022-12-02 株式会社ミツトヨ Measurement device and method for calibration measurement device
CN114633993A (en) * 2022-05-17 2022-06-17 武汉逸飞激光股份有限公司 Cylinder electricity core welding seam rotation detection integrated equipment

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