CN116511088B - Welding gun cleaning method, device and system and storage medium - Google Patents
Welding gun cleaning method, device and system and storage medium Download PDFInfo
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- CN116511088B CN116511088B CN202310615309.0A CN202310615309A CN116511088B CN 116511088 B CN116511088 B CN 116511088B CN 202310615309 A CN202310615309 A CN 202310615309A CN 116511088 B CN116511088 B CN 116511088B
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- 238000003466 welding Methods 0.000 title claims abstract description 206
- 238000004140 cleaning Methods 0.000 title claims abstract description 156
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000003860 storage Methods 0.000 title claims abstract description 15
- 238000005498 polishing Methods 0.000 claims abstract description 19
- 238000012795 verification Methods 0.000 claims description 53
- 238000001514 detection method Methods 0.000 claims description 36
- 239000003086 colorant Substances 0.000 claims description 13
- 238000013507 mapping Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 229910000679 solder Inorganic materials 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 238000007873 sieving Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The application relates to the field of welding equipment maintenance, in particular to a welding gun cleaning method, a device, a system and a storage medium, wherein the method comprises the steps of obtaining welding data of each target gun head, wherein the welding data comprise a welded target part and a time length for welding one target part, then determining an attachment grade of a welding spot on the corresponding target gun head based on the welding data, determining target equipment corresponding to the target gun head based on the attachment grade, wherein the target equipment is laser cleaning equipment or polishing cleaning equipment, and then determining a target position to be sorted by the target gun head based on the target equipment; and then outputting a control instruction of the sorting device based on the target position so that the sorting device moves the target gun head to the target position. The application has the effect of improving the cleaning efficiency of the welding head of the butt welding gun.
Description
Technical Field
The application relates to the field of welding equipment maintenance, in particular to a welding gun cleaning method, a device, a system and a storage medium.
Background
The existing automobile part production line adopts high-degree automatic operation. Some parts need to pass through welding procedure in the batch production's in-process, after the welding of a period of time, there is residual solder joint at welder's rifle head, and then influences welder's efficiency and welded precision, just needs to clear up the residual solder joint on the welder this moment.
There are two modes of cleaning the gun head of the welding gun generally, namely laser cleaning and polishing cleaning; the laser cleaning mode is suitable for cleaning gun heads with more residual welding spots, and the polishing mode is suitable for cleaning gun heads with fewer residual welding spots. Generally, all welding gun heads needing to be cleaned are cleaned in a direct mode, so that the cleaning efficiency is low.
Disclosure of Invention
In order to improve cleaning efficiency of welding heads of welding guns, the application provides a welding gun cleaning method, device and system and a storage medium.
In a first aspect, the present application provides a method for cleaning a welding gun, which adopts the following technical scheme:
A method of gun cleaning comprising:
Acquiring welding data of each target gun head, wherein the welding data comprise a target part to be welded and the time period for welding one target part;
determining the adhesion grade of the welding spot on the corresponding target gun head based on the welding data;
determining target equipment corresponding to a target gun head based on the attachment grade, wherein the target equipment is laser cleaning equipment or polishing cleaning equipment;
determining a target position to which a target gun head needs to be sorted based on the target equipment;
and outputting a control instruction of the sorting device based on the target position so that the sorting device moves the target gun head to the target position.
By adopting the technical scheme, the attachment grade of the welding spots on each target gun head can be determined based on the welding data of each target gun head, after the attachment grade of the welding spots on each target gun head is determined, the target arrangement equipment corresponding to each target gun head is determined based on the attachment grade, then the target position of the target gun head to be sorted is determined based on the target equipment corresponding to each target gun head, and then a control instruction is output based on the target position so as to control the sorting equipment to sort each target gun head to the corresponding target position, so that each target gun head can be cleaned by the suitable cleaning equipment, and the cleaning efficiency of the gun heads can be improved.
In one possible implementation, the determining the adhesion level of the welding spot on the corresponding target gun head based on the welding data includes:
determining a standard time interval based on the target part, wherein the standard time interval is a time interval used by a gun head without a welding spot to which the target part is welded;
And determining the attachment grade of the welding spot on the corresponding target gun head based on the standard duration interval and the used duration.
By adopting the technical scheme, along with the accumulation of welding spots on any gun head, the time length used by the gun head is gradually increased when the same parts are welded, so that the time length used for welding the target part by the target gun head is compared with the standard time length interval of the target part, the attachment grade of the welding spots on the target gun head can be accurately determined based on the time length exceeding the standard time length interval, and the attachment grade of the welding spots on each target gun head can be rapidly determined because the time length used is the data which can be adjusted in advance.
In one possible implementation manner, the determining, based on the attachment level, the target device corresponding to the target gun head includes:
acquiring a detection image of each target gun head;
extracting features of the detection image to obtain color features and contour features of the gun head of the corresponding target;
Determining a verification adhesion level of a welding spot on the corresponding target gun head based on the color features and the contour features;
If the verification adhesion grade is the same as the adhesion grade, determining target equipment corresponding to a target gun head based on the adhesion grade;
determining a new attachment level based on the verified attachment level and the attachment level if the verified attachment level is different from the attachment level;
And determining target equipment corresponding to the target gun head based on the new attachment grade.
By adopting the technical scheme, the color features and the contour features in the detection image can be obtained by extracting the features of the detection image, the verification adhesion grade is determined by the color features and the contour features, the adhesion grade is verified by the verification adhesion grade, and if the verification adhesion grade is different from the adhesion grade, the new adhesion grade is redetermined based on the adhesion grade and the verification adhesion grade, so that the accuracy can be improved.
In one possible implementation, the determining the verified adhesion level for the weld on the corresponding target tip based on the color features and the contour features includes:
Determining the contour areas corresponding to welding spots and target gun heads respectively based on the contour features and standard contours, wherein the standard contours are contours corresponding to gun heads without welding spots;
Determining a first verification level of welding spots on the corresponding target gun heads based on the contour areas corresponding to the welding spots and the target gun heads respectively;
Determining areas corresponding to the colors of the welding spots and the target gun heads based on the color features, wherein the color features comprise pixel points corresponding to the colors respectively;
Determining a second verification level of the welding spot on the corresponding target gun head based on the contour area corresponding to each of the welding spot and the target gun head;
a verification adhesion level is determined based on the first verification level and the second verification level.
By adopting the technical scheme, the colors of the welding spots and the gun heads are different, so that the first verification level can be determined by detecting the areas corresponding to the respective colors of the welding spots and the target gun heads in the image; the outline of the target gun head is fixed, so that the outline characteristic of the target gun head can be determined from the outline image characteristic of the detection image, the outline characteristic of the welding spot can be further determined, and the second verification level of the welding spot on the target gun head can be determined through the outline characteristic of the welding spot and the outline characteristic of the target gun head; and then, the verification adhesion grade is determined based on the first verification grade and the second verification grade, so that the accuracy of the determined verification adhesion grade can be improved.
In one possible implementation manner, the determining, based on the target device, the target position to which the target gun head needs to be sorted includes:
Each working area corresponding to the target equipment comprises a first area and a second area, and the cleaning priority of the gun heads in the first area is higher than that of the gun heads in the second area;
Determining a priority at which the target gun head is cleaned based on the attachment level or the new attachment level;
And determining the target position corresponding to the target gun head from the working area based on the cleaned priority of the target gun head.
By adopting the technical scheme, when the welding spots are more attached, the cleaning time required by the target gun head is longer; thus, after the target device of the target gun head is determined, whether the target gun head is sorted to the first area or the second area of the target position is determined based on the attachment grade, that is, the priority of cleaning the target gun head is determined, and the target gun head in the first area is cleaned preferentially, that is, the gun head which takes shorter time is cleaned preferentially, so that more gun heads can be cleaned in one period, and more gun heads can be recovered to be produced.
In one possible implementation, a method for cleaning a welding gun further includes:
determining a cleaning strength of the cleaning apparatus based on the adhesion grade or the new adhesion grade;
and outputting a cleaning instruction to enable the cleaning equipment to clean the target gun head based on the cleaning strength.
Through adopting above-mentioned technical scheme, after confirming the clean-up equipment that target rifle head corresponds, confirm the clean-up intensity again based on the adhesion level of solder joint on the target rifle head for the clean-up is mild can be based on the adhesion level realization carry and adjust, in order to reduce the probability that clean-up equipment led to the fact the damage to the target rifle head.
In one possible implementation, the outputting, based on the target location, a control instruction for a sorting device includes:
determining the position of a target gun head in the detection image based on the detection image;
determining an initial position of the target gun head in practice based on the position of the target gun head in the detection image and the mapping relation between the position in the image and the actual position;
And outputting a control instruction of the sorting device based on the initial position and the target position.
In a second aspect, the application provides a welding gun cleaning device, which adopts the following technical scheme:
a welding gun cleaning device comprising:
The welding data acquisition module is used for acquiring welding data of each target gun head, wherein the welding data comprise a target part to be welded and the time length for welding one target part;
the attachment grade determining module is used for determining the attachment grade of the welding spot on the corresponding target gun head based on the welding data;
The target equipment determining module is used for determining target equipment corresponding to the target gun head based on the attachment grade, wherein the target equipment is laser cleaning equipment or polishing cleaning equipment;
the target position determining module is used for determining a target position to which the target gun head needs to be sorted based on the target equipment;
and the control instruction output module is used for outputting a control instruction of the sorting device based on the target position so that the sorting device moves the target gun head to the target position.
Through adopting above-mentioned technical scheme, the device can confirm the adhesion level of solder joint on each target rifle head based on the welding data of each target rifle head, after confirming the adhesion level of solder joint on each target rifle head, confirm the target equipment that each target rifle head corresponds based on adhesion level, and then confirm the target position that target rifle head needs to be sorted based on the cleaning equipment that each target rifle head corresponds, afterwards output control command based on the target position, with control sorting equipment sorts each target rifle head to corresponding target position, therefore make each target rifle head all can be cleared up by suitable cleaning equipment, and then can improve the efficiency that the rifle head was cleared up.
In one possible implementation, the adhesion level determination module is specifically configured to, when determining the adhesion level of the welding spot on the corresponding target gun head based on the welding data:
determining a standard time interval based on the target part, wherein the standard time interval is a time interval used by a gun head without a welding spot to which the target part is welded;
And determining the attachment grade of the welding spot on the corresponding target gun head based on the standard duration interval and the used duration.
In one possible implementation manner, the target device determining module is specifically configured to, when determining the target device corresponding to the target gun head based on the attachment level:
acquiring a detection image of each target gun head;
extracting features of the detection image to obtain color features and contour features of the gun head of the corresponding target;
Determining a verification adhesion level of a welding spot on the corresponding target gun head based on the color features and the contour features;
If the verification adhesion grade is the same as the adhesion grade, determining target management equipment corresponding to a target gun head based on the adhesion grade;
determining a new attachment level based on the verified attachment level and the attachment level if the verified attachment level is different from the attachment level;
And determining target equipment corresponding to the target gun head based on the new attachment grade.
In one possible implementation, the adhesion level determination module is specifically configured to, when determining the verified adhesion level for the weld spot on the corresponding target tip based on the color feature and the contour feature:
Determining the contour areas corresponding to welding spots and target gun heads respectively based on the contour features and standard contours, wherein the standard contours are contours corresponding to gun heads without welding spots;
Determining a first verification level of welding spots on the corresponding target gun heads based on the contour areas corresponding to the welding spots and the target gun heads respectively;
Determining areas corresponding to the colors of the welding spots and the target gun heads based on the color features, wherein the color features comprise pixel points corresponding to the colors respectively;
Determining a second verification level of the welding spot on the corresponding target gun head based on the contour area corresponding to each of the welding spot and the target gun head;
a verification adhesion level is determined based on the first verification level and the second verification level.
In one possible implementation manner, the target position determining module is specifically configured to, when determining, based on the target device, a target position to which the target gun head needs to be sorted:
Each working area corresponding to the target equipment comprises a first area and a second area, and the cleaning priority of the gun heads in the first area is higher than that of the gun heads in the second area;
Determining a priority at which the target gun head is cleaned based on the attachment level or the new attachment level;
And determining the target position corresponding to the target gun head from the working area based on the cleaned priority of the target gun head.
In one possible implementation, a welding gun cleaning device further includes:
a cleaning intensity determination module for determining a cleaning intensity of the cleaning apparatus based on the attachment grade or the new attachment grade;
and the cleaning instruction output module is used for outputting a cleaning instruction so that the cleaning equipment cleans the target gun head based on the cleaning strength.
In one possible implementation, when the control instruction output module outputs the control instruction of the sorting device based on the target position, the control instruction output module is specifically configured to:
determining the position of a target gun head in the detection image based on the detection image;
determining an initial position of the target gun head in practice based on the position of the target gun head in the detection image and the mapping relation between the position in the image and the actual position;
And outputting a control instruction of the sorting device based on the initial position and the target position.
In a third aspect, the application provides a welding gun cleaning system, which adopts the following technical scheme:
A welding gun cleaning system, comprising:
The laser cleaning equipment can respond to the corresponding cleaning instruction to clean the target gun head;
the polishing and cleaning equipment can respond to the corresponding cleaning instruction to clean the target gun head;
sorting equipment, responding to the control instruction, can sort the target gun heads to the corresponding target positions;
The image acquisition equipment can acquire a detection image of the target gun head;
The electronic equipment can execute the welding gun cleaning method, and the laser cleaning equipment, the polishing cleaning equipment, the sorting equipment and the image acquisition equipment can all communicate with the electronic equipment.
In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:
A computer-readable storage medium, comprising: a computer program is stored that can be loaded by a processor and that performs the above-described gun cleaning method.
In summary, the present application includes at least one of the following beneficial technical effects:
The welding method comprises the steps that based on welding data of each target gun head, the attachment grade of welding spots on each target gun head can be determined, after the attachment grade of welding spots on each target gun head is determined, target equipment corresponding to each target gun head is determined based on the attachment grade, then the target position of each target gun head to be sorted is determined based on the target equipment corresponding to each target gun head, and then a control instruction is output based on the target position so as to control sorting equipment to sort each target gun head to the corresponding target position, so that each target gun head can be cleaned by suitable cleaning equipment, and the cleaning efficiency of gun heads can be improved;
Because the colors of the welding spots and the gun heads are different, the first verification level can be determined by detecting the areas corresponding to the respective colors of the welding spots and the target gun heads in the image; the outline of the target gun head is fixed, so that the outline characteristic of the target gun head can be determined from the outline image characteristic of the detection image, the outline characteristic of the welding spot can be further determined, and the second verification level of the welding spot on the target gun head can be determined through the outline characteristic of the welding spot and the outline characteristic of the target gun head; then, the verification attachment grade is determined based on the first verification grade and the second verification attachment grade, so that the accuracy of the determined verification attachment grade can be improved;
When the welding spots are more attached, the cleaning time is longer; thus, after the target device of the target gun head is determined, whether the target gun head is sorted to the first area or the second area of the target position is determined based on the attachment grade, that is, the priority of cleaning the target gun head is determined, and the target gun head in the first area is cleaned preferentially, that is, the gun head which takes shorter time is cleaned preferentially, so that more gun heads can be cleaned in one period, and more gun heads can be recovered to be produced.
Drawings
FIG. 1 is a flow chart of a method for cleaning a welding gun according to an embodiment of the application;
FIG. 2 is a schematic view of a welding gun cleaning apparatus according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a gun purge system in accordance with an embodiment of the present application;
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to fig. 1 to 4.
Modifications of the embodiments which do not creatively contribute to the application may be made by those skilled in the art after reading the present specification, but are protected by patent laws within the scope of the claims of the present application.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.
The embodiment of the application provides a welding gun cleaning method which is executed by electronic equipment, and referring to fig. 1, the method comprises the steps of S11-S15, wherein:
step S11, obtaining welding data of each target gun head, wherein the welding data comprise target parts to be welded and the time period for welding one target part.
For the embodiment of the application, each gun head is fixed on a control device, such as a manipulator and a multi-axis linkage device, when the gun head works normally on a production line. The gun head is moved by the control device, and the gun head is controlled to perform welding operation at a proper position. The starting and stopping of each gun head receives the control of the electric signal or other instructions, and the time interval of the instructions for controlling the starting and stopping of the welding of any gun head in the single welding process is obtained, so that the used duration of the single welding of any gun head can be determined.
Specifically, the type of part welded corresponding to any target gun head and the duration of time used for welding one part can be stored as a work log corresponding to any target gun head. And the welding data of the target gun head can be obtained from the target gun head, and the operation log with preset duration is intercepted forward as the welding data from the last welding operation. The target part is the type of the part welded by the target gun head for the last time, and the welding data at least comprises the duration of welding the target part for one time; if the welding data only comprises the duration of welding the part once, the used duration is the duration; if the time is included for a plurality of times, the maximum value is taken from a plurality of time periods to be determined as the used time period.
And step S12, determining the adhesion grade of the welding spot on the corresponding target gun head based on the welding data.
For the embodiment of the application, the target gun heads are all batched when welding the same part on the production line. The target gun head is relatively stable in the process of welding parts of the same type, and the time length of the target gun head is gradually increased along with the gradual increase of welding spots attached to the target gun head, so that after welding data are acquired, the attachment grade can be determined based on the welding data, and the attachment grade represents the attachment amount of the welding spots on the gun head.
And step S13, determining target equipment corresponding to the target gun head based on the adhesion grade, wherein the target equipment is laser cleaning equipment or polishing cleaning equipment.
For the embodiment of the application, the attachment grade corresponding to each cleaning device is preset, and after the attachment grade of the target gun head is determined, the target device corresponding to the target gun head is determined based on the attachment grade.
And step S14, determining the target position to which the target gun head needs to be sorted based on the target equipment.
For the embodiment example of the application, after the cleaning equipment corresponding to the target gun head is determined, the positions of the cleaning equipment, namely the target position to be sorted by the target gun head, are determined based on the determined cleaning equipment corresponding to the target gun head because the positions corresponding to the laser cleaning equipment and the polishing cleaning equipment are different.
Step S15, a control instruction of the sorting apparatus is output based on the target position, so that the sorting apparatus moves the target gun head to the target position.
The sorting device may be a manipulator or a conveyor belt with a sieving function, and the embodiment of the application is not particularly limited, as long as the corresponding gun heads can be sorted to the corresponding target positions. After determining the target position corresponding to the target gun head, generating a control instruction based on the target position, and sorting the target gun head to the target position by the sorting equipment in response to the control instruction.
The welding data of each target gun head can be used for determining the attachment grade of welding spots on each target gun head, after the attachment grade of welding spots on each target gun head is determined, cleaning equipment corresponding to each target gun head is determined based on the attachment grade, then the target position of each target gun head to be sorted is determined based on the cleaning equipment corresponding to each target gun head, and then a control instruction is output based on the target position so as to control the sorting equipment to sort each target gun head to the corresponding target position, so that each target gun head can be cleaned by the proper cleaning equipment, and the efficiency of gun head cleaning can be improved.
Further, the attachment level of the welding spot on the corresponding target gun head is determined based on the welding data, including step S121 (not shown in the figure) and step S122 (not shown in the figure), wherein:
Step S121, determining a standard duration interval based on the target part, wherein the standard duration interval is a duration interval used by a target gun head attached with a welding spot for welding one target part.
Specifically, each target gun head may correspond to welding only one part of the same part type, or may weld parts of multiple part types. However, since the parts of one part type are welded in a batch, the case of a plurality of part types is not considered here. The standard time interval required by each part type when being welded by the normal welding gun head can be preset, and after the part type industry corresponding to the target gun head when working for the last time, namely the target part, is obtained, the corresponding standard time interval is determined based on the target part. For example, the standard time interval corresponding to the type of the part A is obtained as [ 20 seconds-25 seconds ], and further, each standard time interval is a closed interval.
Step S122, determining the adhesion grade of the welding spot on the corresponding target gun head based on the standard duration interval and the used duration.
Specifically, if the used time length exceeds the standard time length interval, determining a difference value between the used time length and the maximum time length in the standard time length interval, and determining the attachment grade of the target gun head based on a preset mapping relation between the difference value and the attachment grade.
Further, the target device corresponding to the target gun head is determined based on the attachment level, including step S131 (not shown in the figure) -step S136 (not shown in the figure), wherein:
step S131, obtaining a detection image of each target gun head.
Specifically, the detection image of the target gun head can be acquired in real time or can be acquired directly from the local.
Step S132, extracting features of the detected image to obtain color features and contour features of the gun head of the corresponding target;
step S133, determining the verification adhesion grade of the welding spot on the corresponding target gun head based on the color characteristics and the contour characteristics.
Specifically, extracting color features and contour features in a detected image by using a feature extraction model to obtain color features and contour features of a target gun head; the standard contour is a contour corresponding to a gun head without welding spots; and determining the contour areas corresponding to the welding spots and the target gun heads based on the contour features and the standard contour, determining the area ratio of the contour area corresponding to the welding spots to the contour area corresponding to the target gun heads, and determining the first attachment grade based on the mapping relation between the preset area ratio and the attachment grade.
Further, the color features comprise pixel points corresponding to each color in the detected image; determining the corresponding areas of the respective colors of the welding spots and the target gun heads based on the color characteristics; and determining a second verification level of the welding spot on the corresponding target gun head based on the contour area corresponding to each welding spot and the target gun head.
The color characteristics of the target gun head represent the respective corresponding areas of the target gun head and the welding spot. Since the color of the welding spot may be coincident with the color of the target gun head, errors easily occur in recognizing the welding spot and the target gun head only by the color features. Further, a verification attachment level is determined based on the first verification level and the second verification level. Specifically, if the first authentication level and the second authentication level are the same, the authentication attachment level is determined to be the first authentication level. If the first authentication level and the second authentication level are different, determining that the authentication attachment level is the larger one of the first authentication attachment level and the second authentication level.
Step S134, if the adhesion grade is verified to be the same as the adhesion grade, determining target equipment corresponding to the target gun head based on the adhesion grade;
step S135, if the verified adhesion grade is different from the adhesion grade, determining a new adhesion grade based on the verified adhesion grade and the adhesion grade;
Step S136, determining the target equipment corresponding to the target gun head based on the new attachment grade.
Specifically, the reliability of the attachment level is verified by verifying the attachment level as a reference, and if the attachment level is the same as the verification attachment level, it is explained that the determined attachment level is reliable, and at this time, the cleaning device corresponding to the target gun head is determined based on the attachment level. If the adhesion grade is different from the verification adhesion grade, determining whether the cleaning equipment corresponding to the verification adhesion grade and the adhesion grade is the same, if not, determining a new adhesion grade, namely selecting a larger grade from the verification adhesion grade and the adhesion grade as the new adhesion grade, and determining the target equipment corresponding to the target gun head based on the new adhesion grade.
Considering that the shape of the target tip is fixed and the shape of the welding spot on the target tip is random, even if an error occurs in determining the verified attachment level, a high probability is that the determined verified attachment level is smaller than the actual attachment level. For example, the 1-10 level is a classification of the adhesion level, where 1 level indicates the minimum amount of adhered welding spots, 10 level indicates the maximum amount, and if the actual adhesion level of the welding spots on the target tip is 6 levels, the determined verification adhesion level is 6 levels or less with a high probability even if an error occurs. Therefore, when determining a new authentication attachment level, a larger level is determined as the new attachment level from the authentication attachment level and the attachment level, so that a more realistic result can be obtained.
Further, determining the target position to which the target gun head needs to be sorted based on the target device includes a step S141 (not shown in the figure) and a step S142 (not shown in the figure), wherein:
in step S141, the working areas corresponding to each target device include a first area and a second area, and the priority of cleaning the gun head in the first area is higher than that of cleaning the gun head in the second area. The priority at which the target gun tips are cleaned is determined based on the attachment level or the new attachment level.
Specifically, after determining the target device corresponding to the target gun head, the target position to which the target gun head needs to be sorted needs to be determined, that is, whether the target gun head is sorted to a first area or a second area in the working area of the target device is determined.
And S142, determining a target position corresponding to the target gun head from the working area based on the cleaned priority of the target gun head.
When the welding spots on the target gun head are more attached, the cleaning time is longer, and when the welding spots on the target gun head are less attached, the cleaning time is shorter; the shorter gun heads are cleaned preferentially, so that more gun heads can be cleaned in one period, and more gun heads can be recovered for production.
Specifically, the target gun head with the lower attachment level is placed in the first area, namely the first area is determined as the target position corresponding to the target gun head with the lower attachment level. For example, the cleaning device corresponding to the target gun heads with the attachment grade of 1-5 is a polishing cleaning device, the target gun heads with the attachment grade of 1-3 is a first area in the polishing cleaning device, and the target gun heads with the attachment grade of 4-5 is a second area in the polishing cleaning device.
After determining the target position corresponding to the target gun head, a control instruction of the sorting apparatus is output based on the target position, so that the sorting apparatus moves the target gun head to the target position, including step S151 (not shown in the figure) -step S153 (not shown in the figure), wherein:
Step S151, determining the position of the target gun head in the detection image based on the detection image;
step S152, determining the initial position of the target gun head in practice based on the position of the target gun head in the detection image and the mapping relation between the position in the image and the actual position.
Specifically, an image acquisition device with a fixed position is arranged, the image acquisition device shoots a detection image of the target gun head, and the electronic device acquires the detection image and determines the position of the target gun head in the detection image. Because the position of the image acquisition equipment is fixed, namely the acquisition visual angle is fixed, the conversion coordinate relation between the position in the detection image and the actual position can be preset, and after the position of the target gun head in the image is determined, the actual position of the target gun head, namely the initial position of the target gun head, is obtained based on the preset conversion coordinate system.
Step S153, a control instruction of the sorting apparatus is output based on the initial position and the target position.
Specifically, the electronic device generates a route track based on the initial position of the target gun head in practice and the target position, and the route track represents the track of the sorting device for moving the target gun head. The electronic equipment generates a control instruction based on the route track and sends the control instruction to the corresponding sorting equipment.
Further, since the plurality of attachment levels may correspond to the same target device, for example, target devices of the target gun heads of attachment levels 1-5 are all sanding cleaning devices. In fact, the adhesion amount of the welding spot on the gun head is different between different adhesion grades, and when the polishing cleaning device cleans, if the same cleaning force cleaning frequency is adopted, the welding spot on the gun head with the target gun head with the height of the welding spot adhesion grade may not be thoroughly cleaned, or the gun head with the target gun head with the lower adhesion grade is damaged by the cleaning device, therefore, the method in the embodiment of the application further comprises step SA1 (not shown in the figure) and step SA2 (not shown in the figure), wherein:
step SA1, determining cleaning strength and cleaning frequency of the target equipment based on the attachment grade or the new attachment grade;
Step SA2, outputting a cleaning instruction to enable the cleaning equipment to clean the target gun head based on the cleaning intensity and the cleaning frequency.
Specifically, the adhesion grade and the cleaning intensity of the corresponding cleaning device can be preset, and the adhesion grade and the cleaning frequency of the corresponding cleaning device can also be preset, when the adhesion grade is larger, the cleaning frequency and the cleaning intensity corresponding to the target device are both larger; and when the adhesion grade is smaller, the cleaning frequency and the cleaning strength corresponding to the target equipment are smaller, so that the target gun heads with more welding spots are cleaned more cleanly, and meanwhile, the damage to the target gun heads with fewer welding spots can be reduced.
The foregoing embodiments describe a method for cleaning a welding gun from the perspective of a method flow, and the following embodiments describe a device for cleaning a welding gun from the perspective of a virtual module or a virtual unit, which are described in detail in the following embodiments.
The embodiment of the application provides a welding gun cleaning device, as shown in fig. 2, the welding gun cleaning device 20 may specifically include a welding data acquisition module 21, an adhesion level determination module 22, a target device determination module 23, a target position determination module 24, and a control instruction output module 25, where:
a welding data acquisition module 21, configured to acquire welding data of each target gun head, where the welding data includes a target part to be welded and a time period for welding one target part;
an adhesion level determination module 22 for determining an adhesion level of a weld on the corresponding target tip based on the welding data;
A target device determining module 23, configured to determine a target device corresponding to the target gun head based on the adhesion level, where the target device is a laser cleaning device or a polishing cleaning device;
A target position determining module 24, configured to determine, based on the target device, a target position to which the target gun head needs to be sorted;
A control instruction output module 25 for outputting control instructions of the sorting apparatus based on the target position so that the sorting apparatus moves the target gun head to the target position.
Through adopting above-mentioned technical scheme, the device can confirm the adhesion level of solder joint on each target rifle head based on the welding data of each target rifle head, after confirming the adhesion level of solder joint on each target rifle head, confirm the target equipment that each target rifle head corresponds based on adhesion level, and then confirm the target position that target rifle head needs to be sorted based on the cleaning equipment that each target rifle head corresponds, afterwards output control command based on the target position, with control sorting equipment sorts each target rifle head to corresponding target position, therefore make each target rifle head all can be cleared up by suitable cleaning equipment, and then can improve the efficiency that the rifle head was cleared up.
In one possible implementation, the adhesion level determination module 22 is specifically configured to, when determining an adhesion level for a weld on a corresponding target tip based on the welding data:
Determining a standard time interval based on the target part, wherein the standard time interval is a time interval used by a gun head without a welding spot to which the target part is welded;
And determining the attachment grade of the welding spot on the corresponding target gun head based on the standard duration interval and the used duration.
In one possible implementation, the target device determining module 23 is specifically configured to, when determining, based on the attachment level, a target device corresponding to the target gun head:
acquiring a detection image of each target gun head;
extracting features of the detection image to obtain color features and contour features of the gun head of the corresponding target;
determining a verification adhesion level of a welding spot on the corresponding target gun head based on the color features and the contour features;
if the adhesion grade is verified to be the same as the adhesion grade, determining target equipment corresponding to the target gun head based on the adhesion grade;
if the verified adhesion level is different from the adhesion level, determining a new adhesion level based on the verified adhesion level and the adhesion level;
and determining the target equipment corresponding to the target gun head based on the new attachment grade.
In one possible implementation, the adhesion level determination module 22 is specifically configured to, when determining the verified adhesion level for the weld on the corresponding target tip based on the color features and the contour features:
Determining contour areas corresponding to welding spots and target gun heads respectively based on contour features and standard contours, wherein the standard contours are contours corresponding to gun heads without welding spots;
Determining a first verification level of welding spots on the corresponding target gun heads based on the contour areas corresponding to the welding spots and the target gun heads respectively;
determining areas corresponding to the colors of the welding spots and the target gun heads based on color features, wherein the color features comprise pixel points corresponding to the colors respectively;
Determining a second verification level of the welding spot on the corresponding target gun head based on the contour area corresponding to each of the welding spot and the target gun head;
A verification attachment level is determined based on the first verification level and the second verification level.
In one possible implementation, the target position determination module 24 is specifically configured to, when determining, based on the target device, a target position to which the target gun head needs to be sorted:
the working area corresponding to each target device comprises a first area and a second area, and the cleaning priority of the gun head in the first area is higher than that of the gun head in the second area;
determining a priority at which the target gun head is cleaned based on the attachment grade or the new attachment grade;
and determining the target position corresponding to the target gun head from the working area based on the cleaned priority of the target gun head.
In one possible implementation, a welding gun cleaning apparatus 20 further includes:
The cleaning strength determining module is used for determining the cleaning strength of the cleaning equipment based on the attachment grade or the new attachment grade;
the cleaning instruction output module is used for outputting a cleaning instruction so that the cleaning equipment can clean the target gun head based on the cleaning strength.
In one possible implementation, when the control instruction output module outputs the control instruction of the sorting device based on the target position, the control instruction output module is specifically configured to:
determining the position of the target gun head in the detection image based on the detection image;
Determining the initial position of the target gun head in practice based on the position of the target gun head in the detection image and the mapping relation between the position in the image and the actual position;
A control instruction for the sorting apparatus is output based on the initial position and the target position.
In an embodiment of the present application, as shown in fig. 3, a welding gun cleaning system is provided, where, as shown in fig. 3, a welding gun cleaning system 30 includes a laser cleaning device 31, a polishing cleaning device 32, a sorting device 33, an image collecting device 34, and an electronic device 35, where:
the laser cleaning device 31 is capable of cleaning the target gun head in response to a corresponding cleaning instruction;
A sharpening cleaning device 32 capable of cleaning the target gun head in response to a corresponding cleaning instruction;
A sorting device 33 capable of sorting the target gun heads to the corresponding target positions in response to the control instructions;
An image acquisition device 34 capable of acquiring a detection image of a target gun head;
An electronic device 35, the electronic device comprising: at least one processor 351, at least one memory 353, and at least one application;
the laser cleaning device 31, the sanding cleaning device 32, the sorting device 33 and the image acquisition device 34 are all capable of communicating with the electronic device 35.
With reference to FIG. 4, the processor 451 is coupled to a memory 453, such as via a bus 452. Optionally, the electronic device 45 may also include a transceiver 454. It should be noted that, in practical applications, the transceiver 454 is not limited to one, and the structure of the electronic device 45 is not limited to the embodiment of the present application.
The Processor 451 may be a CPU (Central Processing Unit ), a general purpose Processor, a DSP (DIGITAL SIGNAL Processor, data signal Processor), an ASIC (Application SPECIFIC INTEGRATED Circuit), an FPGA (Field Programmable GATE ARRAY ) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with this disclosure. Processor 451 may also be a combination that implements computing functionality, e.g., comprising one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.
Bus 452 may include a path to transfer information between the aforementioned components. Bus 452 may be a PCI (PERIPHERAL COMPONENT INTERCONNECT, peripheral component interconnect Standard) bus or an EISA (Extended Industry Standard Architecture ) bus, or the like. The bus 452 may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.
The Memory 453 may be, but is not limited to, a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory ) or other type of dynamic storage device that can store information and instructions, an EEPROM (ELECTRICALLY ERASABLE PROGRAMMABLE READ ONLY MEMORY ), a CD-ROM (Compact Disc Read Only Memory, compact disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
The memory 453 is used to store application code for performing aspects of the present application and is controlled by the processor 451 for execution. The processor 451 is configured to execute the application program code stored in the memory 453 to implement what is shown in the foregoing method embodiment.
Among them, electronic devices include, but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. But may also be a server or the like. The electronic device shown in fig. 3 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
Embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, which when run on a computer, causes the computer to perform the corresponding method embodiments described above.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
The foregoing is only a partial embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present application, and such modifications and adaptations should and are intended to be comprehended within the scope of the present application.
Claims (9)
1. A method of cleaning a welding gun, comprising:
Acquiring welding data of each target gun head, wherein the welding data comprise a target part to be welded and the time period for welding one target part;
determining the adhesion grade of the welding spot on the corresponding target gun head based on the welding data;
determining target equipment corresponding to a target gun head based on the attachment grade, wherein the target equipment is laser cleaning equipment or polishing cleaning equipment;
determining a target position to which a target gun head needs to be sorted based on the target equipment;
outputting a control instruction of the sorting device based on the target position, so that the sorting device moves the target gun head to the target position;
The determining the adhesion grade of the welding spot on the corresponding target gun head based on the welding data comprises the following steps:
Determining a standard time interval based on the target part, wherein the standard time interval is a time interval used by a welding gun head without welding spots for welding a target part;
And determining the attachment grade of the welding spot on the corresponding target gun head based on the standard duration interval and the used duration.
2. The method of claim 1, wherein the determining the target device corresponding to the target gun head based on the adhesion level comprises:
acquiring a detection image of each target gun head;
extracting features of the detection image to obtain color features and contour features of the gun head of the corresponding target;
Determining a verification adhesion level of a welding spot on the corresponding target gun head based on the color features and the contour features;
If the verification adhesion grade is the same as the adhesion grade, determining target equipment corresponding to a target gun head based on the adhesion grade;
determining a new attachment level based on the verified attachment level and the attachment level if the verified attachment level is different from the attachment level;
And determining target equipment corresponding to the target gun head based on the new attachment grade.
3. The method of claim 2, wherein said determining a verified adhesion level for a weld on a corresponding target tip based on said color features and said profile features comprises:
Determining the contour areas corresponding to welding spots and target gun heads respectively based on the contour features and standard contours, wherein the standard contours are contours corresponding to gun heads without welding spots;
Determining a first verification level of welding spots on the corresponding target gun heads based on the contour areas corresponding to the welding spots and the target gun heads respectively;
Determining areas corresponding to the colors of the welding spots and the target gun heads based on the color features, wherein the color features comprise pixel points corresponding to the colors respectively;
Determining a second verification level of the welding spot on the corresponding target gun head based on the contour area corresponding to each of the welding spot and the target gun head;
a verification adhesion level is determined based on the first verification level and the second verification level.
4. The welding gun cleaning method according to claim 2, wherein each working area corresponding to the target equipment comprises a first area and a second area, the priority of cleaning gun heads in the first area is higher than the priority of cleaning gun heads in the second area, the determining the target position to which the target gun heads need to be sorted based on the target equipment comprises the following steps:
Determining a priority at which the target gun head is cleaned based on the attachment level or the new attachment level;
And determining the target position to which the target gun head needs to be sorted from the working area based on the cleaned priority of the target gun head.
5. The welding gun cleaning method as defined in claim 2, further comprising:
Determining a cleaning strength of the target device based on the attachment level or the new attachment level;
And outputting a cleaning instruction to enable the target equipment to clean the target gun head based on the cleaning intensity.
6. The welding gun cleaning method according to claim 2, wherein the outputting of the control instruction of the sorting device based on the target position includes:
determining the position of a target gun head in the detection image based on the detection image;
determining an initial position of the target gun head in practice based on the position of the target gun head in the detection image and the mapping relation between the position in the image and the actual position;
And outputting a control instruction of the sorting device based on the initial position and the target position.
7. A welding gun cleaning device, comprising:
The welding data acquisition module is used for acquiring welding data of each target gun head, wherein the welding data comprise a target part to be welded and the time length for welding one target part;
the attachment grade determining module is used for determining the attachment grade of the welding spot on the corresponding target gun head based on the welding data;
The target equipment determining module is used for determining target equipment corresponding to the target gun head based on the attachment grade, wherein the target equipment is laser cleaning equipment or polishing cleaning equipment;
the target position determining module is used for determining a target position to which the target gun head needs to be sorted based on the target equipment;
a control instruction output module for outputting a control instruction of the sorting device based on the target position, so that the sorting device moves the target gun head to the target position;
the attachment class determination module is further configured to:
Determining a standard time interval based on the target part, wherein the standard time interval is a time interval used by a welding gun head without welding spots for welding a target part;
And determining the attachment grade of the welding spot on the corresponding target gun head based on the standard duration interval and the used duration.
8. A welding gun cleaning system, the system comprising:
The laser cleaning equipment can respond to the corresponding cleaning instruction to clean the target gun head;
the polishing and cleaning equipment can respond to the corresponding cleaning instruction to clean the target gun head;
sorting equipment, responding to the control instruction, can sort the target gun heads to the corresponding target positions;
The image acquisition equipment can acquire a detection image of the target gun head;
an electronic device capable of performing the gun cleaning method of any one of claims 1-6;
the laser cleaning equipment, the polishing cleaning equipment, the sorting equipment and the image acquisition equipment can all communicate with the electronic equipment.
9. A computer-readable storage medium, comprising: a computer program that can be loaded by a processor and that performs the method for cleaning a welding gun according to any one of claims 1 to 6 is stored.
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