CN116618839B - High-precision welding head alignment platform and method for corrugated pipe inner diameter welding - Google Patents
High-precision welding head alignment platform and method for corrugated pipe inner diameter welding Download PDFInfo
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- CN116618839B CN116618839B CN202310891537.0A CN202310891537A CN116618839B CN 116618839 B CN116618839 B CN 116618839B CN 202310891537 A CN202310891537 A CN 202310891537A CN 116618839 B CN116618839 B CN 116618839B
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- 238000003466 welding Methods 0.000 title claims abstract description 277
- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000000758 substrate Substances 0.000 claims abstract description 9
- 239000000047 product Substances 0.000 claims description 33
- 230000000007 visual effect Effects 0.000 claims description 9
- 238000003825 pressing Methods 0.000 claims description 7
- 230000001502 supplementing effect Effects 0.000 claims description 7
- 238000012216 screening Methods 0.000 claims description 6
- 238000000926 separation method Methods 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 239000013589 supplement Substances 0.000 claims description 4
- 238000012935 Averaging Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 7
- 239000012528 membrane Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
- B23K26/24—Seam welding
- B23K26/28—Seam welding of curved planar seams
- B23K26/282—Seam welding of curved planar seams of tube sections
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0823—Devices involving rotation of the workpiece
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses a high-precision alignment method of a welding head for inner diameter welding of a corrugated pipe, which relates to the technical field of corrugated pipe welding and comprises the following steps: a bracket; the lifting seat is arranged on the bracket; the rotating base is fixedly arranged above the upper lifting plate; the upper rotating disc is rotationally connected to the inside of the rotating base; the lower rotating disc is rotationally connected above the fixed plate; the positioning die comprises a positioning upper die and a positioning lower die; the lifting linear motor is fixedly arranged at the upper end of the lower bottom plate; the welding manipulator is fixedly arranged on one side of the upper substrate; and the welding assembly is arranged at the tail end of the welding manipulator. The invention has the advantages that: the corrugated pipe welding device has the advantages that accurate positioning during corrugated pipe welding can be realized, unqualified products in corrugated pipe workpieces are removed before welding, welding of the unqualified products is prevented, product yield is reduced, welding resources are wasted, and the welding yield of the corrugated pipe can be effectively improved.
Description
Technical Field
The invention relates to the technical field of corrugated pipe welding, in particular to a high-precision alignment platform and method for a welding head for welding the inner diameter of a corrugated pipe.
Background
The welded corrugated pipe is a new element which is recently raised at home and abroad, and can be generally used as a sensitive element, a sealing element, an isolating medium, a pipeline connection, a temperature compensator and the like. Besides the advantages of pressure resistance, temperature resistance, corrosion resistance, good sealing performance and the like, compared with the traditional formed corrugated pipe, the corrugated pipe has two outstanding advantages: the deformation is large and the service life is long.
It is a highly bendable and stretchable metal tube made of a number of thin hollow membranes formed by punching, and made by precision welding, as shown in fig. 9. The two hollow membrane plates are welded together to form a pair of membrane plates, and then the two hollow membrane plates are stacked together to form a corrugated section by welding the outer edges of the two hollow membrane plates, and then the two hollow membrane plates and the end plates are welded together to form a corrugated pipe group, so that the corrugated pipe group can reciprocate together with other moving parts according to external requirements.
Because when carrying out the welding of bellows internal diameter, because its internal diameter flange size is less, be difficult to realize carrying out the survey of bellows internal diameter flange size when carrying out the welding, be difficult to accurately discriminate to the bad that the bellows internal diameter exists, be difficult to confirm the best welding point that the laser welding head welding point was in two bellows work pieces when guaranteeing the welding, lead to the welding yield lower.
Disclosure of Invention
In order to solve the technical problems, the technical scheme provides a welding head high-precision alignment platform and a welding head high-precision alignment method for welding the inner diameter of a corrugated pipe, which solve the problems that the inner diameter flange size of the corrugated pipe is small when the inner diameter of the corrugated pipe is welded, the inner diameter flange size of the corrugated pipe is difficult to measure when the inner diameter of the corrugated pipe is welded, the defects existing in the inner diameter of the corrugated pipe are difficult to accurately discriminate, and the optimal welding point position of the welding point of the laser welding head is difficult to determine and ensure two corrugated pipe workpieces when the welding is performed, so that the welding yield is low.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a welding head high precision alignment platform for inside diameter welding of corrugated tubing, comprising:
the support comprises an upper substrate and a lower bottom plate, wherein the upper substrate and the lower bottom plate are connected with each other through a plurality of support columns;
the lifting seat is arranged on the bracket and comprises a fixed plate, an upper lifting plate and a lower supporting plate, wherein the fixed plate is fixedly arranged above the upper substrate, the upper lifting plate and the lower supporting plate are connected with each other through a plurality of guide posts, and the guide posts penetrate through the fixed plate and are in sliding connection with the fixed plate through linear bearings;
The rotating base is fixedly arranged above the upper lifting plate;
the upper rotating disc is rotationally connected to the inside of the rotating base;
the lower rotating disc is rotationally connected above the fixed plate, and the lower rotating disc and the upper rotating disc are coaxially arranged;
the positioning die comprises an upper positioning die and a lower positioning die, the upper positioning die is clamped at the middle part of the lower end of the upper rotating disc, the lower positioning die is clamped at the middle part of the upper end of the lower rotating disc, and the positioning die is used for positioning and clamping the corrugated pipe workpiece;
the lifting linear motor is fixedly arranged at the upper end of the lower bottom plate, and the output end of the lifting linear motor is fixedly connected to the lower end of the lower supporting plate through a mounting seat;
the welding manipulator is fixedly arranged on one side of the upper substrate;
the welding assembly is installed at the tail end of the welding manipulator and comprises a welding installation plate, a laser welding device is fixedly installed on one side of the welding installation plate, a separation seat is fixedly connected to the front side of the welding installation plate, a visual installation plate is fixedly connected to the front side of the separation seat, an image acquisition device is fixedly installed on the upper end of the front side of the visual installation plate, a light supplementing device is fixedly installed on the lower end of the front side of the visual installation plate, a sensor bracket is formed by extending the middle of the visual installation plate forwards, and a D line scanning sensor is fixedly installed at the tail end of the sensor bracket.
Preferably, the peripheral surface of the lower end of the lower rotating disc is fixedly connected with a driven gear, one side of the lower end of the fixed plate is fixedly connected with a rotating motor, the output end of the rotating motor penetrates through the fixed plate and extends to the upper part of the fixed plate, and is fixedly connected with a driving gear, and the driving gear and the driven gear are meshed with each other.
Preferably, the inner ring of the corrugated pipe workpiece is provided with a conical part, and the inner ring of the conical part is provided with a welding flange.
Preferably, the lower mould upper end of location has seted up the compound die constant head tank, the inside fixedly connected with product positioning platform of compound die constant head tank, product positioning platform surface sets up to the toper platform with toper portion looks adaptation, the welding groove has been seted up to product positioning platform inner circle, the diameter of welding groove is less than the internal diameter of welding flange.
Preferably, the lower end of the positioning upper die is fixedly connected with a die clamping positioning protrusion matched with the die clamping positioning groove, and the middle part of the lower end of the die clamping positioning protrusion is fixedly connected with a product positioning pressing table.
Preferably, the lower end of the laser welder is fixedly connected with an adjusting pipe, and the tail end of the adjusting pipe is fixedly connected with a laser welding head.
Furthermore, a high-precision alignment method for a welding head for inner diameter welding of a corrugated pipe is provided, which is applicable to the high-precision alignment platform for inner diameter welding of a corrugated pipe, and comprises the following steps:
Stacking the two corrugated pipe workpieces in a product positioning table in the lower positioning die, and positioning the corrugated pipe workpieces through a conical table on the outer surface of the product positioning table;
the lifting linear motor drives the upper lifting plate to descend so as to lead the positioning upper die and the positioning lower die to be matched, and then the product positioning pressing table is matched with the product positioning table to press and fix the welding flange of the corrugated pipe workpiece;
acquiring image data and depth data of the inner side of the welding groove through an image acquisition device and a 3D line scanning sensor;
analyzing the image data and the depth data to obtain welding flange size data of the corrugated pipe workpieces, and calculating inner diameter contours of welding flanges of the two corrugated pipe workpieces based on the welding flange size data;
judging whether the inner diameter of the welding flange of the corrugated pipe workpiece meets the standard or not based on the inner diameter profile of the welding flange of the corrugated pipe workpiece, if so, judging the corrugated pipe workpiece as a qualified piece, if not, judging the corrugated pipe workpiece as a unqualified piece, and outputting an unqualified signal;
for the corrugated pipe workpieces judged to be qualified, calculating the gap position height between the two corrugated pipe workpieces based on the welding flange size data of the corrugated pipe workpieces, and recording the gap position height as the welding seam height;
And carrying out fitting calculation on the welding point position based on the inner diameter profile of the welding flange and the welding line height, and moving the laser welding head to the welding point position by the welding manipulator to carry out corrugated pipe welding.
Optionally, the capturing image data and depth data of the inner side of the welding groove by the image capturing device and the 3D line scanning sensor specifically includes:
establishing a space coordinate system;
the welding manipulator drives the image acquisition device and the 3D line scanning sensor to move to an acquisition position, and the light supplementing device is started to supplement light to the inside of the welding groove;
starting a rotating motor to drive a lower rotating disc to rotate, so as to drive the positioning die to rotate for a circle;
and according to the set time interval, the image acquisition device and the 3D line scanning sensor acquire image data and depth data in the welding groove to obtain the image data and the depth data in the welding groove.
Optionally, the analyzing the image data and the depth data to obtain welding flange size data of the bellows workpiece, and calculating the inner diameter profile of the welding flange of the two bellows workpieces based on the welding flange size data specifically includes:
converting the acquired depth data into coordinate data in a space coordinate system according to the position of the acquisition position in the space coordinate system to acquire a plurality of coordinate system data;
Carrying out gray scale processing on the image data in the welding groove to obtain a plurality of gray scale images;
determining flange positions of welding of two corrugated pipe workpieces according to gray abrupt change points appearing in the gray image, and respectively marking the flange positions as an upper flange area and a lower flange area;
screening coordinate data corresponding to the positions of the upper flange region and the lower flange region from the coordinate system data based on the positions of the upper flange region and the lower flange region;
fitting the upper flange region profile and the lower flange region profile is performed based on a plurality of coordinate data corresponding to the upper flange region and the lower flange region.
Optionally, the determining whether the inner diameter of the welding flange of the bellows workpiece meets the standard based on the inner diameter profile of the welding flange of the bellows workpiece specifically includes:
calculating the contour radius corresponding to the point coordinate data on the basis of the central axis corresponding to the bellows workpiece and the coordinate data corresponding to each upper flange region and/or each lower flange region, and obtaining a plurality of contour radius data;
calculating the fitting degree of the upper flange region and/or the lower flange region and the standard component based on the contour radius data and the standard size of the inner diameter of the corrugated pipe welding flange according to a fitting formula;
judging whether the fitting degree of the upper flange area and/or the lower flange area and the standard component is larger than a preset fitting degree value, if so, judging that the inner diameter of the welding flange of the corrugated pipe workpiece meets the standard, and if not, judging that the inner diameter of the welding flange of the corrugated pipe workpiece does not meet the standard;
Wherein, the fitting formula is:wherein C is the fitting degree of the upper flange region and/or the lower flange region and the standard part, n is the total number of the profile radius data, and r 0 The inner diameter standard size of the welding flange of the corrugated pipe is r i I-th profile radius data for the upper flange region and/or the lower flange region.
Optionally, the calculating the gap position height between the two bellows workpieces based on the welding flange size data of the bellows workpieces specifically includes:
collecting height coordinate values in coordinate data corresponding to each upper flange region and/or each lower flange region, and respectively obtaining a plurality of upper flange region height data and a plurality of lower flange region height data;
analyzing the plurality of upper flange zone height data and the plurality of lower flange zone height data based on a Grabbs criterion, and screening out fluctuation values existing in the plurality of upper flange zone height data and the plurality of lower flange zone height data;
judging whether the vertical waveforms of the welding flange inner diameter profiles of the two corrugated pipe workpieces meet the standard or not respectively based on the fluctuation values existing in the plurality of upper flange area height data and the plurality of lower flange area height data;
if yes, eliminating fluctuation values in the upper flange area height data and the lower flange area height data, and then obtaining average values, and respectively marking the average values as the upper flange area nominal height and the lower flange area nominal height;
If not, judging that the fluctuation of the inner diameter profile of the corrugated pipe workpiece is too large;
averaging the nominal height of the upper flange area and the nominal height of the lower flange area to obtain the height of a clearance position between two corrugated pipe workpieces;
wherein, the expression of the glabros criterion is:wherein H is j For the j-th upper flange zone height data or lower flange zone height data, +.>For the average value of the upper flange region height data or the lower flange region height data, s is the standard deviation of the upper flange region height data or the lower flange region height data, bpn is a critical value, which is determined by a Charpy table, if the calculation formula of the Charpy criterion is satisfied, H j For the fluctuation value existing in the upper flange zone height data and the lower flange zone height data, otherwise, H j Is a standard value existing in the plurality of upper flange region height data and the plurality of lower flange region height data.
Optionally, the determining whether the vertical waveforms of the welding flange inner diameter profiles of the two bellows workpieces meet the standard specifically based on the fluctuation values existing in the plurality of upper flange area height data and the plurality of lower flange area height data includes:
acquiring a plurality of upper flange area height data and/or fluctuation values existing in a plurality of lower flange area height data;
Calculating a vertical fluctuation index of the inner diameter profile of the upper flange region and/or the lower flange region based on a fluctuation index formula;
judging whether the vertical fluctuation index of the inner diameter profile of the upper flange area and/or the lower flange area is larger than an index preset value, if so, judging that the inner diameter profile of the welding flange of the corrugated pipe workpiece does not accord with the standard, and if not, judging that the inner diameter profile of the welding flange of the corrugated pipe workpiece accords with the standard;
wherein, the fluctuation index formula is:wherein B is a vertical fluctuation index of the inner diameter profile of the upper flange zone or the lower flange zone, H k For the kth fluctuation value existing in the upper flange zone height data or the lower flange zone height data, m is the total quantity of fluctuation values in the upper flange zone height data or the lower flange zone height data, and->Is the upper flange zone height data or the lower flange zone height data average.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a high-precision positioning platform and a high-precision positioning method for a welding head for welding inner diameters of corrugated pipes, wherein a positioning lower die matched with the corrugated pipe workpieces is adopted for pre-positioning the corrugated pipe workpieces, then a positioning upper die is adopted for compacting and fixing the corrugated pipe workpieces, accurate positioning of the two corrugated pipe workpieces is realized, then welding flange position data after the positioning of the corrugated pipe workpieces are acquired through an image acquisition device and a 3D line scanning sensor, whether the corrugated pipe workpieces are qualified or not is judged according to the welding flange position data, the welding point positions of the qualified corrugated pipe workpieces are calculated, a welding manipulator moves a laser welding head to the welding point positions, and then a positioning die is driven to rotate through a lower rotating disc, so that the corrugated pipe workpieces are rotated, and then the laser welding head performs circumferential welding on the corrugated pipe workpieces.
Drawings
FIG. 1 is a schematic perspective view of a high-precision alignment platform of a welding head for welding the inner diameter of a corrugated pipe;
FIG. 2 is a schematic diagram of an assembled structure of a bracket and a lifting seat in the present invention;
FIG. 3 is a schematic view of an assembled structure of the inside of the lifting seat according to the present invention;
FIG. 4 is a schematic view illustrating an assembled structure of the inside of the lift base according to another view angle of the present invention;
FIG. 5 is a schematic diagram showing an assembled structure of an upper rotating disc and an upper positioning die according to the present invention;
FIG. 6 is a schematic diagram of an assembly structure of a lower rotating disc and a lower positioning die according to the present invention;
FIG. 7 is a schematic view of a positioning mold according to the present invention;
FIG. 8 is a schematic perspective view of an upper positioning die according to the present invention;
FIG. 9 is a schematic perspective view of a bellows workpiece according to the present invention;
FIG. 10 is an enlarged partial schematic view of FIG. 9A;
FIG. 11 is a schematic perspective view of a welding assembly according to the present invention;
FIG. 12 is a flow chart of a high precision alignment method for a weld head for inside diameter welding of corrugated tubing in accordance with the present invention;
FIG. 13 is a flowchart of a method for acquiring image data and depth data according to the present invention;
FIG. 14 is a flow chart of a method of calculating the inner diameter profile of a weld flange in accordance with the present invention;
FIG. 15 is a flowchart of a method for determining whether the inner diameter of a weld flange of a bellows workpiece meets a standard in accordance with the present invention;
FIG. 16 is a flow chart of a method of calculating the gap position height between two bellows workpieces in accordance with the present invention;
FIG. 17 is a flow chart of a method of determining whether the vertical waveform of the weld flange inner diameter profile of two bellows workpieces meets the criteria in the present invention.
The reference numerals in the figures are:
a bracket; 101. an upper substrate; 102. a support column; 103. a lower base plate;
a lifting seat; 201. a fixing plate; 202. an upper lifting plate; 203. a lower support plate; 204. a guide post;
rotating the base;
an upper rotating disc;
positioning an upper die; 501. closing the mold and positioning the bulge; 502. a product positioning press table;
positioning a lower die; 601. closing the die positioning groove; 602. a product positioning table; 603. a conical table; 604. a welding groove;
a rotating motor;
a drive gear;
a lower rotating disc; 901. a driven gear;
a bellows workpiece; 1001. a tapered portion; 1002. welding the flange;
a lifting linear motor; 1101. a mounting base;
a welding manipulator;
welding the assembly; 1301. welding a mounting plate; 1302. a laser welder; 13021. an adjusting tube; 13022. a laser welding head; 1303. a partition seat; 1304. a visual mounting plate; 13041. a sensor holder; 1305. an image acquisition device; 1306. a light supplementing device; 1307. 3D line sweep sensor.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art.
Referring to fig. 1-11, a high precision alignment stage for a weld head for inside diameter welding of corrugated tubing, comprising:
the bracket 1, the bracket 1 comprises an upper base plate 101 and a lower base plate 103, and the upper base plate 101 and the lower base plate 103 are connected with each other through a plurality of support columns 102;
the lifting seat 2 is arranged on the bracket 1, the lifting seat 2 comprises a fixed plate 201, an upper lifting plate 202 and a lower supporting plate 203, the fixed plate 201 is fixedly arranged above the upper substrate 101, the upper lifting plate 202 and the lower supporting plate 203 are connected with each other through a plurality of guide posts 204, and the guide posts 204 penetrate through the fixed plate 201 and are connected with the fixed plate 201 in a sliding manner through linear bearings 205;
a rotating base 3, the rotating base 3 being fixedly installed above the upper lifting plate 202;
an upper rotating disc 4, the upper rotating disc 4 is rotatably connected to the inside of the rotating base 3;
the lower rotating disc 9 is rotatably connected above the fixed plate 201, and the lower rotating disc 9 and the upper rotating disc 4 are coaxially arranged;
the positioning die comprises an upper positioning die 5 and a lower positioning die 6, the upper positioning die 5 is clamped at the middle part of the lower end of the upper rotating disc 4, the lower positioning die 6 is clamped at the middle part of the upper end of the lower rotating disc 9, the positioning die is used for positioning and clamping the corrugated pipe workpiece 10, a conical part 1001 is arranged on the inner ring of the corrugated pipe workpiece 10, a welding flange 1002 is arranged on the inner ring of the conical part 1001, a die clamping positioning groove 601 is formed in the upper end of the lower positioning die 6, a product positioning table 602 is fixedly connected inside the die clamping positioning groove 601, the outer surface of the product positioning table 602 is provided with a conical table 603 matched with the conical part 1001, a welding groove 604 is formed in the inner ring of the product positioning table 602, the diameter of the welding groove 604 is smaller than the inner diameter of the welding flange 1002, a die clamping positioning protrusion 501 matched with the die clamping positioning groove 601 is fixedly connected at the lower end of the upper positioning die 5, and the product positioning pressing table 502 is fixedly connected at the middle part of the lower end of the die clamping positioning protrusion 501;
The lifting linear motor 11, the lifting linear motor 11 is fixedly arranged at the upper end of the lower bottom plate 103, and the output end of the lifting linear motor 11 is fixedly connected to the lower end of the lower supporting plate 203 through the mounting seat 1101;
a welding manipulator 12, wherein the welding manipulator 12 is fixedly arranged on one side of the upper substrate 101;
the welding assembly 13, welding assembly 13 installs in welding manipulator 12 end, welding assembly 13 includes welding mounting plate 1301, welding mounting plate 1301 one side fixed mounting has laser welder 1302, laser welder 1302 lower extreme fixedly connected with adjusting tube 13021, adjusting tube 13021 end fixedly connected with laser welding head 13022, welding mounting plate 1301 front side fixedly connected with separating seat 1303, separating seat 1303 front side fixedly connected with vision mounting plate 1304, vision mounting plate 1304 front side upper end fixed mounting has image acquisition device 1305, vision mounting plate 1304 front side lower extreme fixed mounting has light filling device 1306, vision mounting plate 1304 middle part extends forward and forms sensor support 13041, sensor support 13041 end fixed mounting has 3D line to sweep sensor 1307.
The use process of the welding head high-precision alignment platform for the inner diameter welding of the corrugated pipe is as follows:
step one: the lifting linear motor 11 drives the upper lifting plate 202 to lift, so that the upper positioning die 5 is driven to move upwards, the upper positioning die 5 and the lower positioning die 6 are opened, two corrugated pipe workpieces 10 are stacked in a product positioning table 602 in the lower positioning die 6, and the corrugated pipe workpieces 10 are positioned through a conical table 603 on the outer surface of the product positioning table 602;
Step two: the lifting linear motor 11 drives the upper lifting plate 202 to descend, so that the upper positioning die 5 and the lower positioning die 6 are clamped, and the product positioning pressing table 502 and the product positioning table 602 are matched to press and fix the welding flange 1002 of the corrugated pipe workpiece 10;
step three: the welding manipulator 12 drives the image acquisition device 1305 and the 3D line scanning sensor 1307 to move to an acquisition position, the light supplementing device 1306 is started to supplement light to the interior of the welding groove, the lower rotating disc 9 is rotated, the positioning die is further driven to rotate for a circle, and the image acquisition device 1305 and the 3D line scanning sensor 1307 acquire image data and depth data in the interior of the welding groove according to a set time interval to acquire the image data and the depth data in the interior of the welding groove;
step four: analyzing the welding point position based on the image data and the depth data inside the welding groove, and moving the laser welding head 13022 to the welding point position by the welding robot 12;
step five: the laser welder 1302 is started, and meanwhile, the lower rotating disc 9 is rotated to drive the positioning die to rotate, so that the corrugated pipe workpiece 10 rotates, and the laser welding head 13022 performs circumferential welding on the corrugated pipe workpiece 10.
In some embodiments, the driven gear 901 is fixedly connected to the peripheral surface of the lower end of the lower rotating disc 9, the rotating motor 7 is fixedly connected to one side of the lower end of the fixed plate 201, and the output end of the rotating motor 7 penetrates through the fixed plate 201 and extends above the fixed plate 201 and is fixedly connected with the driving gear 8, and the driving gear 8 and the driven gear 901 are meshed with each other.
In this embodiment, the rotating motor 7 is adopted to cooperate with the gear set to drive the lower rotating disc 9 to rotate, and when in operation, the rotating motor 7 is started to drive the driving gear 8 to rotate, and the driving gear 8 rotates the rotating torque to the lower rotating disc 9 through the meshing relationship with the driven gear 901, so that the lower rotating disc 9 is driven to rotate.
Still further, referring to fig. 12, the present disclosure further provides a method for high-precision positioning of a welding head for welding an inner diameter of a corrugated pipe, including:
stacking the two corrugated pipe workpieces in a product positioning table in the lower positioning die, and positioning the corrugated pipe workpieces through a conical table on the outer surface of the product positioning table;
the lifting linear motor drives the upper lifting plate to descend so as to lead the positioning upper die and the positioning lower die to be matched, and then the product positioning pressing table is matched with the product positioning table to press and fix the welding flange of the corrugated pipe workpiece;
acquiring image data and depth data of the inner side of the welding groove through an image acquisition device and a 3D line scanning sensor;
analyzing the image data and the depth data to obtain welding flange size data of the corrugated pipe workpieces, and calculating inner diameter contours of welding flanges of the two corrugated pipe workpieces based on the welding flange size data;
Judging whether the inner diameter of the welding flange of the corrugated pipe workpiece meets the standard or not based on the inner diameter profile of the welding flange of the corrugated pipe workpiece, if so, judging the corrugated pipe workpiece as a qualified piece, if not, judging the corrugated pipe workpiece as a unqualified piece, and outputting an unqualified signal;
for the corrugated pipe workpieces judged to be qualified, calculating the gap position height between the two corrugated pipe workpieces based on the welding flange size data of the corrugated pipe workpieces, and recording the gap position height as the welding seam height;
and carrying out fitting calculation on the welding point position based on the inner diameter profile of the welding flange and the welding line height, and moving the laser welding head to the welding point position by the welding manipulator to carry out corrugated pipe welding.
The corrugated pipe workpiece is pre-positioned by adopting the positioning lower die matched with the corrugated pipe workpiece, the corrugated pipe workpiece is pressed and fixed by adopting the positioning upper die, the accurate positioning of the two corrugated pipe workpieces is realized, then the welding flange position data after the positioning of the corrugated pipe workpieces are acquired by the image acquisition device and the 3D line scanning sensor, whether the corrugated pipe workpiece is qualified or not is judged according to the welding flange position data, the size of the corrugated pipe workpiece can be accurately identified, defective products in the corrugated pipe workpiece can be effectively removed before welding, the welding point position is calculated on the qualified corrugated pipe workpiece, the welding manipulator moves the laser welding head to the welding point position, and then the positioning die is driven to rotate by the lower rotating disc, so that the corrugated pipe workpiece is rotated, and the laser welding head performs circumferential welding on the corrugated pipe workpiece.
Referring to fig. 13, the capturing of image data and depth data of the inner side of a welding groove by an image capturing device and a 3D line scanning sensor specifically includes:
establishing a space coordinate system;
the welding manipulator drives the image acquisition device and the 3D line scanning sensor to move to an acquisition position, and the light supplementing device is started to supplement light to the inside of the welding groove;
starting a rotating motor to drive a lower rotating disc to rotate, so as to drive the positioning die to rotate for a circle;
and according to the set time interval, the image acquisition device and the 3D line scanning sensor acquire image data and depth data in the welding groove to obtain the image data and the depth data in the welding groove.
Referring to fig. 14, analyzing the image data and the depth data to obtain welding flange size data of the bellows workpieces, and calculating an inner diameter profile of the welding flange of the two bellows workpieces based on the welding flange size data specifically includes:
converting the acquired depth data into coordinate data in a space coordinate system according to the position of the acquisition position in the space coordinate system to acquire a plurality of coordinate system data;
carrying out gray scale processing on the image data in the welding groove to obtain a plurality of gray scale images;
Determining flange positions of welding of two corrugated pipe workpieces according to gray abrupt change points appearing in the gray image, and respectively marking the flange positions as an upper flange area and a lower flange area;
screening coordinate data corresponding to the positions of the upper flange region and the lower flange region from the coordinate system data based on the positions of the upper flange region and the lower flange region;
fitting the upper flange region profile and the lower flange region profile is performed based on a plurality of coordinate data corresponding to the upper flange region and the lower flange region.
Because the welding flange size of bellows work piece is less, therefore this scheme is when carrying out the welding flange size data of gathering two upper and lower bellows work piece, at first use image acquisition device to gather the inside image of welding groove, afterwards through the relative welding flange inner peripheral surface protrusion of welding groove and the grey scale abrupt change point that the clearance that exists between the welding flange of two bellows work pieces led to, confirm the separation line between the welding flange of two bellows work pieces and the welding flange of two bellows work piece, and then realize the accurate discernment separation to upper flange district and lower flange district position, through the upper flange district and the lower flange district position of certainty, carry out accurate discernment conversion to the depth data that 3D line swept sensor gathered, obtain a plurality of coordinate data that upper flange district and lower flange district correspond, and then fit out upper flange district profile and lower flange district profile.
Referring to fig. 15, determining whether the inner diameter of the welding flange of the bellows workpiece meets the standard based on the inner diameter profile of the welding flange of the bellows workpiece specifically includes:
calculating the contour radius corresponding to the point coordinate data on the basis of the central axis corresponding to the bellows workpiece and the coordinate data corresponding to each upper flange region and/or each lower flange region, and obtaining a plurality of contour radius data;
calculating the fitting degree of the upper flange region and/or the lower flange region and the standard component based on the contour radius data and the standard size of the inner diameter of the corrugated pipe welding flange according to a fitting formula;
judging whether the fitting degree of the upper flange area and/or the lower flange area and the standard component is larger than a preset fitting degree value, if so, judging that the inner diameter of the welding flange of the corrugated pipe workpiece meets the standard, and if not, judging that the inner diameter of the welding flange of the corrugated pipe workpiece does not meet the standard;
wherein, the fitting formula is:wherein C is the fitting degree of the upper flange region and/or the lower flange region and the standard part, n is the total number of the profile radius data, and r 0 The inner diameter standard size of the welding flange of the corrugated pipe is r i I-th profile radius data for the upper flange region and/or the lower flange region.
The fitting degree between the inner diameter profile of the upper flange region and/or the lower flange region and the standard profile of the corrugated pipe welding flange is calculated by calculating the difference ratio between the profile radius corresponding to each coordinate data and the inner diameter of the welding flange of the standard member, and the higher the fitting degree is, the closer the corrugated pipe workpiece is to the standard member, otherwise, the lower the fitting degree is, the farther the corrugated pipe workpiece is from the standard member, and it is understood that the corrugated pipe workpiece with unqualified inner diameter size can be effectively removed by calculating the inner diameter profile of the corrugated pipe, so that the corrugated pipe workpiece is standard qualified during welding, and the welding quality of the corrugated pipe is further ensured.
Referring to fig. 16, calculating the gap position height between two bellows workpieces based on the welding flange size data of the bellows workpieces specifically includes:
collecting height coordinate values in coordinate data corresponding to each upper flange region and/or each lower flange region, and respectively obtaining a plurality of upper flange region height data and a plurality of lower flange region height data;
analyzing the plurality of upper flange zone height data and the plurality of lower flange zone height data based on a Grabbs criterion, and screening out fluctuation values existing in the plurality of upper flange zone height data and the plurality of lower flange zone height data;
judging whether the vertical waveforms of the welding flange inner diameter profiles of the two corrugated pipe workpieces meet the standard or not respectively based on the fluctuation values existing in the plurality of upper flange area height data and the plurality of lower flange area height data;
if yes, eliminating fluctuation values in the upper flange area height data and the lower flange area height data, and then obtaining average values, and respectively marking the average values as the upper flange area nominal height and the lower flange area nominal height;
if not, judging that the fluctuation of the inner diameter profile of the corrugated pipe workpiece is too large;
averaging the nominal height of the upper flange area and the nominal height of the lower flange area to obtain the height of a clearance position between two corrugated pipe workpieces;
Wherein, the expression of the glabros criterion is:wherein H is j For the j-th upper flange zone height data or lower flange zone height data, +.>For the average value of the upper flange region height data or the lower flange region height data, s is the standard deviation of the upper flange region height data or the lower flange region height data, bpn is a critical value, which is determined by a Charpy table, if the calculation formula of the Charpy criterion is satisfied, H j For the fluctuation value existing in the upper flange zone height data and the lower flange zone height data, otherwise, H j Is a standard value existing in the plurality of upper flange region height data and the plurality of lower flange region height data.
Eliminating fluctuation values existing in the upper flange area height data and the lower flange area height data through the Grabbs criterion, respectively calculating the upper flange area nominal height and the lower flange area nominal height, and then calculating the gap position height between the corrugated pipe workpieces, wherein when welding is carried out, the height of a welding point is ensured to be kept at the gap position height position between the corrugated pipe workpieces, the welding flanges of the corrugated pipe workpieces at two sides can be ensured to be at the same welding temperature, the welding uniformity of the corrugated pipe workpieces at two sides is further ensured, and the welding quality of the corrugated pipe workpieces can be effectively maintained.
Referring to fig. 17, determining whether the vertical waveforms of the welding flange inner diameter profiles of the two bellows workpieces meet the standard specifically based on the fluctuation values existing in the plurality of upper flange area height data and the plurality of lower flange area height data includes:
acquiring a plurality of upper flange area height data and/or fluctuation values existing in a plurality of lower flange area height data;
calculating a vertical fluctuation index of the inner diameter profile of the upper flange region and/or the lower flange region based on a fluctuation index formula;
judging whether the vertical fluctuation index of the inner diameter profile of the upper flange area and/or the lower flange area is larger than an index preset value, if so, judging that the inner diameter profile of the welding flange of the corrugated pipe workpiece does not accord with the standard, and if not, judging that the inner diameter profile of the welding flange of the corrugated pipe workpiece accords with the standard.
Wherein, the fluctuation index formula is:wherein B is a vertical fluctuation index of the inner diameter profile of the upper flange zone or the lower flange zone, H k For the kth fluctuation value existing in the upper flange zone height data or the lower flange zone height data, m is the total quantity of fluctuation values in the upper flange zone height data or the lower flange zone height data, and->Is the upper flange zone height data or the lower flange zone height data average.
It can be understood that if the fluctuation of the inner diameter of the corrugated pipe flange is too large, the gap between the upper corrugated pipe workpiece and the lower corrugated pipe workpiece is too large, and a stable and good welding seam is difficult to form during welding, so that the corrugated pipe workpiece with the excessively large fluctuation of the inner diameter of the corrugated pipe flange needs to be removed before welding;
the fluctuation of the corrugated pipe welding flange is measured by summing all fluctuation values and the difference value of the height data mean value, and the larger the value is, the larger the difference between the fluctuation value and the height data mean value is, the more serious the fluctuation of the corrugated pipe welding flange is.
In summary, the invention has the advantages that: the size of bellows work piece can be accurately discerned, accurate positioning when realizing the bellows welding is rejected in the bellows work piece before the welding, prevents to weld the unqualified product, causes product yield to drop and welding resource waste, can effectually improve the welding yield of bellows.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The high-precision alignment method of the welding head for the inner diameter welding of the corrugated pipe is characterized by being suitable for a high-precision alignment method platform of the welding head for the inner diameter welding of the corrugated pipe;
the welding head high-precision alignment method platform for corrugated pipe inner diameter welding comprises the following steps:
the support (1), the support (1) comprises an upper base plate (101) and a lower base plate (103), and the upper base plate (101) and the lower base plate (103) are connected with each other through a plurality of support columns (102);
the lifting seat (2) is arranged on the bracket (1), the lifting seat (2) comprises a fixed plate (201), an upper lifting plate (202) and a lower supporting plate (203), the fixed plate (201) is fixedly arranged above the upper base plate (101), the upper lifting plate (202) and the lower supporting plate (203) are connected with each other through a plurality of guide posts (204), and the guide posts (204) penetrate through the fixed plate (201) and are in sliding connection with the fixed plate (201) through linear bearings (205);
a rotating base (3), wherein the rotating base (3) is fixedly arranged above the upper lifting plate (202);
an upper rotating disc (4), wherein the upper rotating disc (4) is rotatably connected to the inside of the rotating base (3);
The lower rotating disc (9) is rotationally connected above the fixed plate (201), and the lower rotating disc (9) and the upper rotating disc (4) are coaxially arranged;
the positioning die comprises an upper positioning die (5) and a lower positioning die (6), the upper positioning die (5) is clamped at the middle part of the lower end of the upper rotating disc (4), the lower positioning die (6) is clamped at the middle part of the upper end of the lower rotating disc (9), and the positioning die is used for positioning and clamping the corrugated pipe workpiece (10);
the lifting linear motor (11), the lifting linear motor (11) is fixedly arranged at the upper end of the lower bottom plate (103), and the output end of the lifting linear motor (11) is fixedly connected to the lower end of the lower supporting plate (203) through the mounting seat (1101);
a welding manipulator (12), wherein the welding manipulator (12) is fixedly arranged on one side of the upper substrate (101);
the welding device comprises a welding assembly (13), wherein the welding assembly (13) is arranged at the tail end of a welding manipulator (12), the welding assembly (13) comprises a welding mounting plate (1301), a laser welder (1302) is fixedly arranged on one side of the welding mounting plate (1301), a separation seat (1303) is fixedly connected to the front side of the welding mounting plate (1301), a visual mounting plate (1304) is fixedly connected to the front side of the separation seat (1303), an image acquisition device (1305) is fixedly arranged at the upper end of the front side of the visual mounting plate (1304), a light supplementing device (1306) is fixedly arranged at the lower end of the front side of the visual mounting plate (1304), a sensor bracket (13041) is formed by extending the middle part of the visual mounting plate (1304) forwards, and a 3D line scanning sensor (1307) is fixedly arranged at the tail end of the sensor bracket (13041).
The lower rotary disk (9) is fixedly connected with a driven gear (901) on the peripheral surface of the lower end, one side of the lower end of the fixed plate (201) is fixedly connected with a rotary motor (7), the output end of the rotary motor (7) penetrates through the fixed plate (201) and extends to the upper part of the fixed plate (201) and is fixedly connected with a driving gear (8), and the driving gear (8) is meshed with the driven gear (901);
the inner ring of the corrugated pipe workpiece (10) is provided with a conical part (1001), and the inner ring of the conical part (1001) is provided with a welding flange (1002);
a die clamping positioning groove (601) is formed in the upper end of the positioning lower die (6), a product positioning table (602) is fixedly connected inside the die clamping positioning groove (601), a conical table (603) matched with the conical part (1001) is arranged on the outer surface of the product positioning table (602), a welding groove (604) is formed in the inner ring of the product positioning table (602), and the diameter of the welding groove (604) is smaller than the inner diameter of the welding flange (1002);
the lower end of the positioning upper die (5) is fixedly connected with a die clamping positioning protrusion (501) matched with the die clamping positioning groove (601), and the middle part of the lower end of the die clamping positioning protrusion (501) is fixedly connected with a product positioning pressing table (502);
The lower end of the laser welder (1302) is fixedly connected with an adjusting pipe (13021), and the tail end of the adjusting pipe (13021) is fixedly connected with a laser welding head (13022);
the high-precision positioning method for the welding head for welding the inner diameter of the corrugated pipe comprises the following steps:
stacking the two corrugated pipe workpieces in a product positioning table in the lower positioning die, and positioning the corrugated pipe workpieces through a conical table on the outer surface of the product positioning table;
the lifting linear motor drives the upper lifting plate to descend so as to lead the positioning upper die and the positioning lower die to be matched, and then the product positioning pressing table is matched with the product positioning table to press and fix the welding flange of the corrugated pipe workpiece;
acquiring image data and depth data of the inner side of the welding groove through an image acquisition device and a 3D line scanning sensor;
analyzing the image data and the depth data to obtain welding flange size data of the corrugated pipe workpieces, and calculating inner diameter contours of welding flanges of the two corrugated pipe workpieces based on the welding flange size data;
judging whether the inner diameter of the welding flange of the corrugated pipe workpiece meets the standard or not based on the inner diameter profile of the welding flange of the corrugated pipe workpiece, if so, judging the corrugated pipe workpiece as a qualified piece, if not, judging the corrugated pipe workpiece as a unqualified piece, and outputting an unqualified signal;
For the corrugated pipe workpieces judged to be qualified, calculating the gap position height between the two corrugated pipe workpieces based on the welding flange size data of the corrugated pipe workpieces, and recording the gap position height as the welding seam height;
fitting and calculating the position of a welding point based on the inner diameter profile of the welding flange and the height of the welding line, and moving a laser welding head to the position of the welding point by a welding manipulator to weld the corrugated pipe;
the image data and the depth data of the inner side of the welding groove are collected through the image collecting device and the 3D line scanning sensor specifically comprises:
establishing a space coordinate system;
the welding manipulator drives the image acquisition device and the 3D line scanning sensor to move to an acquisition position, and the light supplementing device is started to supplement light to the inside of the welding groove;
starting a rotating motor to drive a lower rotating disc to rotate, so as to drive the positioning die to rotate for a circle;
according to the set time interval, the image acquisition device and the 3D line scanning sensor acquire image data and depth data in the welding groove to obtain the image data and the depth data in the welding groove;
analyzing the image data and the depth data to obtain welding flange size data of the corrugated pipe workpieces, and calculating the inner diameter profile of the welding flange of the two corrugated pipe workpieces based on the welding flange size data specifically comprises the following steps:
Converting the acquired depth data into coordinate data in a space coordinate system according to the position of the acquisition position in the space coordinate system to acquire a plurality of coordinate system data;
carrying out gray scale processing on the image data in the welding groove to obtain a plurality of gray scale images;
determining flange positions of welding of two corrugated pipe workpieces according to gray abrupt change points appearing in the gray image, and respectively marking the flange positions as an upper flange area and a lower flange area;
screening coordinate data corresponding to the positions of the upper flange region and the lower flange region from the coordinate system data based on the positions of the upper flange region and the lower flange region;
fitting the upper flange region contour and the lower flange region contour based on a plurality of coordinate data corresponding to the upper flange region and the lower flange region;
the method for judging whether the inner diameter of the welding flange of the corrugated pipe workpiece accords with the standard specifically based on the inner diameter profile of the welding flange of the corrugated pipe workpiece comprises the following steps:
calculating the contour radius corresponding to the point coordinate data on the basis of the central axis corresponding to the bellows workpiece and the coordinate data corresponding to each upper flange region and/or each lower flange region, and obtaining a plurality of contour radius data;
calculating the fitting degree of the upper flange region and/or the lower flange region and the standard component based on the contour radius data and the standard size of the inner diameter of the corrugated pipe welding flange according to a fitting formula;
Judging whether the fitting degree of the upper flange area and/or the lower flange area and the standard component is larger than a preset fitting degree value, if so, judging that the inner diameter of the welding flange of the corrugated pipe workpiece meets the standard, and if not, judging that the inner diameter of the welding flange of the corrugated pipe workpiece does not meet the standard;
wherein, the fitting formula is:wherein C is the fitting degree of the upper flange region and/or the lower flange region and the standard part, n is the total number of the profile radius data, and r 0 The inner diameter standard size of the welding flange of the corrugated pipe is r i I-th profile radius data for the upper flange region and/or the lower flange region.
2. The high-precision positioning method of a welding head for welding an inner diameter of a corrugated pipe according to claim 1, wherein the calculating of the gap position height between two corrugated pipe workpieces based on the welding flange size data of the corrugated pipe workpieces specifically comprises:
collecting height coordinate values in coordinate data corresponding to each upper flange region and/or each lower flange region, and respectively obtaining a plurality of upper flange region height data and a plurality of lower flange region height data;
analyzing the plurality of upper flange zone height data and the plurality of lower flange zone height data based on a Grabbs criterion, and screening out fluctuation values existing in the plurality of upper flange zone height data and the plurality of lower flange zone height data;
Judging whether the vertical waveforms of the welding flange inner diameter profiles of the two corrugated pipe workpieces meet the standard or not respectively based on the fluctuation values existing in the plurality of upper flange area height data and the plurality of lower flange area height data;
if yes, eliminating fluctuation values in the upper flange area height data and the lower flange area height data, and then obtaining average values, and respectively marking the average values as the upper flange area nominal height and the lower flange area nominal height;
if not, judging that the fluctuation of the inner diameter profile of the corrugated pipe workpiece is too large;
averaging the nominal height of the upper flange area and the nominal height of the lower flange area to obtain the height of a clearance position between two corrugated pipe workpieces;
wherein, the expression of the glabros criterion is:wherein H is j For the j-th upper flange zone height data or lower flange zone height data, +.>For the average value of the upper flange region height data or the lower flange region height data, s is the standard deviation of the upper flange region height data or the lower flange region height data, bpn is a critical value, which is determined by a Charpy table, if the calculation formula of the Charpy criterion is satisfied, H j For the fluctuation value existing in the upper flange zone height data and the lower flange zone height data, otherwise, H j Is a standard value existing in the plurality of upper flange region height data and the plurality of lower flange region height data.
3. The high-precision alignment method of a welding head for welding inner diameters of corrugated pipes according to claim 2, wherein the determining whether the vertical waveforms of the welding flange inner diameter profiles of two corrugated pipe workpieces meet the standard specifically based on the fluctuation values existing in the plurality of upper flange area height data and the plurality of lower flange area height data respectively comprises:
acquiring a plurality of upper flange area height data and/or fluctuation values existing in a plurality of lower flange area height data;
calculating a vertical fluctuation index of the inner diameter profile of the upper flange region and/or the lower flange region based on a fluctuation index formula;
judging whether the vertical fluctuation index of the inner diameter profile of the upper flange area and/or the lower flange area is larger than an index preset value, if so, judging that the inner diameter profile of the welding flange of the corrugated pipe workpiece does not accord with the standard, and if not, judging that the inner diameter profile of the welding flange of the corrugated pipe workpiece accords with the standard;
wherein, the fluctuation index formula is:wherein B is a vertical fluctuation index of the inner diameter profile of the upper flange zone or the lower flange zone, H k For the kth fluctuation value existing in the upper flange zone height data or the lower flange zone height data, m is the total quantity of fluctuation values in the upper flange zone height data or the lower flange zone height data, and- >Is the upper flange zone height data or the lower flange zone height data average.
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