CN117900597A - Weld joint track identification positioning method and device - Google Patents
Weld joint track identification positioning method and device Download PDFInfo
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- CN117900597A CN117900597A CN202311796213.5A CN202311796213A CN117900597A CN 117900597 A CN117900597 A CN 117900597A CN 202311796213 A CN202311796213 A CN 202311796213A CN 117900597 A CN117900597 A CN 117900597A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/18—Submerged-arc welding
- B23K9/186—Submerged-arc welding making use of a consumable electrodes
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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
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Abstract
The invention discloses a weld track recognition and positioning method and device, wherein the method comprises the following steps: screening each contour point in the obtained welding seam surface contour set according to the Euler distance formula to obtain a welding seam surface contour boundary set; inputting each element of the weld surface contour boundary set into a corner judgment model established according to an angle adjustment factor for iterative processing to obtain a weld surface corner set; every 3 adjacent angular points are connected pairwise to form a plurality of planes, and the normal vector of each plane is combined to calculate the center point of the profile of the section track of the welding seam; according to the normal vector of the weld joint track plane where the 2 adjacent corner points and the center point are located, solving the bidirectional angle deviation amount of the welding gun and the weld joint track by combining a trigonometric function formula; and positioning and adjusting the weld joint track based on the center point of the profile of the weld joint section track and the two-way angle deviation. The invention can avoid manual adjustment when the electro-gas welding equipment performs welding, reduce the manual work difficulty and improve the fault tolerance rate of track identification.
Description
Technical Field
The invention relates to the technical field of welding and track recognition, in particular to a welding seam track recognition positioning method and device.
Background
Electro-gas welding is a gas-metal arc welding method developed from common gas-metal arc welding and electroslag welding.
At present, the electro-gas welding application scene is mostly constructed in a man-machine cooperation mode, the manual work is mainly responsible for transferring a construction test piece, clamping equipment and positioning a welding spot, the welding process mainly depends on mechanical equipment for positioning, the electro-gas welding equipment walks on a specific track, and meanwhile, the welding process is finished by manual fine adjustment.
The electro-gas welding adopts manual fine adjustment and mechanical positioning modes, so that the welding process is stable and reliable, and the welding work can be well completed under the manual timely adjustment and intervention. However, in the prior art, when the welding seam has the problems of two-dimensional offset, angle rotation and the like, the welding equipment needs to be manually adjusted to reposition the starting point of the electro-gas welding, a skilled operator is required to operate the welding seam, the skill level of the operator is required to be high, and more manpower resources are consumed.
Therefore, a technical solution capable of automatically identifying and positioning a weld track when performing electro-gas welding is needed.
Disclosure of Invention
First, the technical problem to be solved
In view of the above-mentioned shortcomings and disadvantages of the prior art, the present invention provides a method and apparatus for recognizing and positioning a weld track, which solve the technical problem of positioning by manually fine-tuning in the welding process of an electro-pneumatic welding device.
(II) technical scheme
In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:
In a first aspect, an embodiment of the present invention provides a weld track identifying and positioning method, which is applied to an electro-gas welding apparatus configured with a displacement adjustment motor and an angle adjustment motor, and includes:
Screening each contour point in the obtained welding seam surface contour set according to the Euler distance calculation formula to obtain a welding seam surface contour boundary set;
Establishing an angular point judgment model according to the acquired angle adjustment factors comprising weld joint chamfering information, weld joint contour edge missing information and weld joint offset information, and carrying out iterative processing on each element input angular point judgment model of a weld joint surface contour boundary set to obtain a weld joint surface angular point set;
every 3 adjacent weld surface angular points are connected pairwise to form a plurality of planes, and a unique plane center point is calculated to be used as a weld section track profile center point by combining the normal vector of each plane;
According to the normal vector of a weld joint track plane where 2 adjacent weld joint surface angular points and a weld joint section track profile central point are located, solving the bidirectional angle deviation value of a welding gun and a weld joint track by combining a trigonometric function calculation formula;
and controlling the displacement adjusting motor and the angle adjusting motor to finish positioning adjustment of the weld joint track based on the center point of the profile of the weld joint section track and the two-way angle deviation.
Optionally, before screening each contour point in the obtained welding seam surface contour set according to the euler distance calculation formula to obtain a welding seam surface contour boundary set, the method further includes:
performing Chinese character 'ri' scanning on the surface of the weld seam through a preset visual sensor, and constructing a three-dimensional coordinate system with the visual sensor as a base point to obtain a plurality of sampling coordinates P i(Xi,Yi,Zi;
and (5) calculating the transverse coordinate variation in the sampling coordinates:
△X＝∣Xi+1-Xi∣＝Vx*△t (1)
Wherein V x is the transverse scanning speed of the vision sensor, deltat is the scanning period, and i is the sampling coordinate number;
calculating the longitudinal coordinate variation in the sampling coordinates:
△Y＝∣Yi+1-Yi∣＝Vy*△t (2)
wherein V y is the longitudinal scanning speed of the vision sensor, and Deltat is the scanning period;
according to the distance value from the coordinate base point to the scanning light spot of the vision sensor, the height coordinate variable quantity in the sampling coordinate is obtained:
△Z＝∣Zi+1-Zi∣＝H (3)
Wherein H is the height of the welding seam;
Judging whether each sampling coordinate is a sampling point or not according to a sampling point judging condition formula (4);
|X i+1-Xi∣＞0∪∣Yi+1-Yi | >0 and DeltaZ= |Z i+1-Zi | > 0.5τH (4)
Wherein τ is the minimum adjustment factor, H is the weld height;
And comparing the values of the height coordinate values of every 2 continuous sampling points, and judging the sampling points with large values of the height coordinate values as the elements of the welding seam surface profile set.
Optionally, screening each contour point in the obtained welding seam surface contour set according to the euler distance calculation formula, and obtaining the welding seam surface contour boundary set includes:
according to Euler distance calculation formula (5), obtaining Euler distance S of every 2 continuous contour points:
According to the formula (6), a Euler distance judgment threshold value xi is obtained:
wherein, psi is the scanning speed fluctuation factor of the vision sensor;
according to the formula (7), the scanning speed fluctuation factor psi of the vision sensor is obtained;
Wherein, the minimum speed of the V min visual sensor scanning process, the maximum speed of the V max visual sensor scanning process;
Judging whether the Euler distance of every 2 continuous contour points is smaller than the Euler distance judging threshold value or not;
If the Euler distance of every 2 continuous contour points is smaller than the Euler distance judgment threshold, judging the 2 continuous contour points as the contour boundary set elements of the weld surface;
And if the Euler distance of every 2 continuous contour points is not smaller than the Euler distance judging threshold value, judging that the 2 continuous contour points are not the surface contour boundary set elements of the welding seam.
Optionally, establishing an angular point judgment model according to the acquired angle adjustment factors including the weld chamfer information, the weld contour edge missing information and the weld offset information, and performing iterative processing on each element input angular point judgment model of the weld surface contour boundary set to obtain the weld surface angular point set, wherein the step of obtaining the weld surface angular point set comprises the following steps:
Combining all contour points of the contour boundary set of the welding seam surface into a group by 3 adjacent contour points, wherein three-dimensional coordinates are respectively Pj(Xj,Yj,Zj)、Pj+1(Xj+1,Yj+1,Zj+1)、Pj+2(Xj+2,Yj+2,Zj+2);
Respectively solving the horizontal coordinate difference values of 3 adjacent contour points through a formula (8), a formula (9), a formula (10) and a formula (11)Difference of vertical coordinates/>
At the position of/>Under the condition of 0, carrying out the condition judgment of the formula (12);
wherein, Is an angle adjustment factor;
If the condition of the formula (12) is satisfied, it is determined that P j+1 is that the weld surface corner is a weld surface corner set element.
Optionally, before solving the two-way angle deviation between the welding gun and the welding seam track according to the normal vector of the welding seam track plane where the 2 adjacent welding seam surface angular points and the welding seam section track profile central point are located and combining with the trigonometric function calculation formula, the method further comprises:
Acquiring a welding line section track profile center point O (X 1,Y1,Z1);
2 adjacent weld surface corner points are taken from the weld surface corner point set, namely B (X 1-n,Y1+m,Zb) and C (X 1+n,Y1+m,Zc) respectively;
Establishing a three-dimensional coordinate system with a weld joint section track profile center point O (X 1,Y1,Z1) as an origin;
acquiring an auxiliary point A (X 1,Y1-m,Za) and an auxiliary point D (X 1,Y1+m,Zd) which are on the same plane with the weld surface corner B, the weld surface corner C and the weld section track profile center point O;
According to the formula (13), the normal vector lambda of the plane where the auxiliary point A, the auxiliary point D, the weld surface corner B, the weld surface corner C and the weld cross section track profile center point O are located is obtained:
The distance between the auxiliary point A and the auxiliary point D is 2m, and the distance between the welding line surface angular point B and the welding line surface angular point C is 2n.
Optionally, according to the normal vector of the weld track plane where the 2 adjacent weld surface angular points and the weld cross section track profile central point are located, calculating the bidirectional angle deviation value of the welding gun and the weld track by combining with the trigonometric function calculation formula comprises the following steps:
Obtaining geometrical relations of height coordinates of a welding seam section track outline central point O, an auxiliary point A, a welding seam surface corner point B, a welding seam surface corner point C and an auxiliary point A according to the fact that the product of a normal vector of a welding seam track plane and an arbitrary vector of the welding seam track plane is 0:
acquiring a weld joint transverse deflection angle intention and a weld joint longitudinal deflection angle intention according to the horizontal plane projection of the connecting line of the auxiliary point A and the auxiliary point D and the horizontal plane projection of the connecting line of the weld joint surface angular point B and the weld joint surface angular point C;
according to a trigonometric function calculation formula (16), the transverse deflection angle alpha of the welding line is calculated:
according to a trigonometric function calculation formula (17), a longitudinal deflection angle beta of the welding line is calculated:
in a second aspect, an embodiment of the present invention provides a weld track identifying and positioning device, including:
A controller for executing the welding seam track identification method of the electro-gas welding;
the visual sensor is connected with the controller and is used for scanning the surface of the welding seam to obtain a plurality of sampling points;
the displacement adjusting component is connected with the controller and is used for adjusting the displacement track of the welding gun based on the central point information of the track profile of the welding line section of the controller;
the angle adjusting component is connected with the controller and is used for adjusting the welding angle of the welding gun based on the bidirectional angle deviation amount information of the welding gun and the welding seam track of the controller;
and the welding assembly is connected with the controller and is used for welding the welding seam under the control instruction of the controller.
Optionally, the displacement adjustment assembly comprises: the device comprises a transverse displacement slideway, a longitudinal displacement slideway, a transverse displacement motor and a longitudinal displacement motor;
The transverse displacement slideway is arranged on the longitudinal displacement slideway, and is provided with a visual sensor and a welding assembly;
The transverse displacement motor is arranged at one side of the transverse displacement slideway and used for driving the visual sensor and the welding assembly to carry out transverse displacement;
the longitudinal displacement motor is arranged at one side of the longitudinal displacement slideway and used for driving the visual sensor and the welding assembly to carry out longitudinal displacement;
the angle adjustment assembly includes: a transverse rotating motor, a longitudinal rotating motor and a rotating connection block;
The transverse rotating motor and the longitudinal rotating motor are connected with the welding assembly through rotating connecting blocks and are used for driving the welding assembly to rotate transversely and longitudinally.
Optionally, the welding assembly comprises: the welding gun comprises a cooling copper block, a welding gun, a front rail connecting block, a rear rail connecting block and a lifting rail;
The cooling copper block is arranged on one side of the welding seam and used for reducing the temperature of the welding seam during welding;
The welding gun is arranged on the transverse displacement slideway and is used for welding a welding line;
The front track connecting block is respectively connected with the longitudinal displacement slideway and the lifting track and is used for driving the longitudinal displacement slideway to climb along the direction of the lifting track so as to drive the welding gun to climb along the direction of the lifting track;
the rear track connecting block is fixedly connected with the rotary connecting block and the lifting track respectively and is used for driving the lifting track to rotate so as to drive the welding gun to rotate.
Optionally, the method comprises: positioning tools and lifting tools;
the location frock includes: the clamping block is provided with the thrust screw and is connected with the positioning main body through the clamping slide way, and the supporting plate is provided with a lifting hole and is respectively connected with the positioning main body and the rotary connecting block;
the hoisting tool comprises: the device comprises a fixing mechanism, a rotary slide rail, a rotary mechanism, a translation slide rail, a lifting mechanism and a lifting hook which are connected in sequence.
(III) beneficial effects
The beneficial effects of the invention are as follows: the invention adopts the technical scheme that the positioning adjustment of the welding gun of the electro-gas welding equipment relative to the workpiece to be welded is completed by adopting the track recognition comprising the central point of the track profile of the seam section and the two-way angle deviation, the positioning adjustment of the electro-gas welding equipment can be carried out based on the welding seam track recognition result, the manual adjustment is avoided, and the manual work difficulty is reduced; particularly, when the central point of the track outline of the welding line section is acquired, the fault tolerance rate of track identification is improved through the angle adjustment factor feed screening.
Drawings
FIG. 1 is a schematic flow chart of a weld track identifying and positioning method according to an embodiment of the present invention;
FIG. 2 is a block diagram of a weld surface profile sampling point screening logic provided in one embodiment of the invention;
FIG. 3 is a logical block diagram of screening corner points of a weld surface according to an embodiment of the present invention;
FIG. 4 is a schematic plan view of a weld track provided by an embodiment of the invention;
FIG. 5 is a schematic illustration of lateral deflection based on a weld trajectory plane provided by an embodiment of the invention;
FIG. 6 is a schematic view of a tangential deflection based on a weld trajectory plane provided by an embodiment of the invention;
FIG. 7 is a diagram of an embodiment of an overall assembly of a weld track recognition positioning device according to an embodiment of the present invention;
FIG. 8 is a diagram of an embodiment of an electro-pneumatic welding apparatus and a box beam to be welded according to the present invention;
FIG. 9 is a schematic diagram of an electro-gas welding apparatus according to an embodiment of the present invention;
FIG. 10 is a schematic view of a partial detailed structure of an electro-gas welding apparatus according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a positioning tool according to an embodiment of the invention.
[ Reference numerals description ]
101: A fixing mechanism; 102: rotating the slide rail; 103: a rotation mechanism; 104: translating the slide rail; 105: a lifting mechanism; 106: lifting a lifting hook;
200: an electro-gas welding device; 210: a visual sensor; 221: a lateral displacement slideway; 222: a longitudinal displacement slide; 223: a lateral displacement motor; 224: a longitudinal displacement motor; 231: a transverse rotating electric machine; 232: a longitudinal rotary electric machine; 233: rotating the connecting block; 241: cooling the copper block; 242: a welding gun; 243: a front rail connection block; 244: a rear track connection block; 245: lifting the track; 250: positioning a tool; 251: a positioning main body; 252: a clamping block; 253: clamping the slideway; 254: a thrust screw; 255: a support plate;
300: and (5) a box girder to be welded.
Detailed Description
The invention will be better explained for understanding by referring to the following detailed description of the embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 11, a weld track recognition and positioning method and apparatus according to an embodiment of the present invention are applied to an electro-gas welding device 200 configured with a displacement adjustment motor and an angle adjustment motor, and include: screening each contour point in the obtained welding seam surface contour set according to the Euler distance calculation formula to obtain a welding seam surface contour boundary set; establishing an angular point judgment model according to the acquired angle adjustment factors comprising weld joint chamfering information, weld joint contour edge missing information and weld joint offset information, and carrying out iterative processing on each element input angular point judgment model of a weld joint surface contour boundary set to obtain a weld joint surface angular point set; every 3 adjacent weld surface angular points are connected pairwise to form a plurality of planes, and a unique plane center point is calculated to be used as a weld section track profile center point by combining the normal vector of each plane; according to the normal vector of a weld track plane formed by 2 adjacent weld surface angular points and a plane central point, solving the bidirectional angle deviation between the welding gun 242 and the weld track by combining a trigonometric function calculation formula; and controlling the displacement adjusting motor and the angle adjusting motor to finish positioning adjustment of the weld joint track based on the center point of the profile of the weld joint section track and the two-way angle deviation.
The invention adopts the technical scheme that the track recognition comprising the center point of the seam section track profile and the two-way angle deviation amount is adopted to complete the positioning adjustment of the welding gun 242 of the electro-gas welding equipment 200 relative to the workpiece to be welded, and the electro-gas welding equipment can be positioned and adjusted based on the welding seam track recognition result, so that the manual adjustment is avoided, and the manual work difficulty is reduced; particularly, when the central point of the track outline of the welding line section is acquired, the fault tolerance rate of track identification is improved through the angle adjustment factor feed screening.
In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Specifically, for the embodiment of electro-gas welding of the box beam 300 to be welded, the invention provides a weld track identification positioning method, which comprises the following steps:
s1, screening each contour point in the obtained welding seam surface contour set according to an Euler distance calculation formula, and obtaining the welding seam surface contour boundary set.
Further, before step S1, the method further includes:
f1, performing Chinese character 'ri' scanning on the surface of the welding seam through a preset visual sensor 210, and constructing a three-dimensional coordinate system with the visual sensor 210 as a base point to obtain a plurality of sampling coordinates P i(Xi,Yi,Zi).
According to the known weld surface profile characteristics of the box beam 300 to be welded, the X-axis and Y-axis coordinates of the sampling coordinate clock continuously change when the vision sensor 210 samples, and the Z-axis coordinates of the sampling scan to the weld profile will be suddenly changed due to the height of the weld. Since the vision sensor 210 performs the zigzag scanning of the weld surface, the coordinate variation amounts Δx and Δy when scanning along the X-axis and scanning along the Y-axis are positively correlated with the scanning speed.
F2, calculating the transverse coordinate variation in the sampling coordinates:
△X＝∣Xi+1-Xi∣＝Vx*△t (1)
Where V x is the lateral scan speed of the vision sensor 210, Δt is the scan period, and i is the number of sample coordinates.
And F3, calculating the longitudinal coordinate variation in the sampling coordinates:
△Y＝∣Yi+1-Yi∣＝Vy*△t (2)
Where V y is the longitudinal scan speed of the vision sensor 210 and Δt is the scan period.
And F4, according to the height coordinate value in the sampling coordinate as the distance value from the coordinate base point to the scanning light spot of the vision sensor 210, calculating the height coordinate variation in the sampling coordinate:
△Z＝∣Zi+1-Zi∣＝H (3)
wherein H is the height of the weld.
F5, judging whether each sampling coordinate is a sampling point or not according to a sampling point judging condition formula (4);
|X i+1-Xi∣＞0∪∣Yi+1-Yi | >0 and DeltaZ= |Z i+1-Zi | > 0.5τH (4)
Wherein τ is a minimum adjustment factor, specifically a minimum depth of the beveled edge of the weld profile; h is the height of the weld.
And F6, comparing the values of the height coordinate values of every 2 continuous sampling points, and judging the sampling points with large values of the height coordinate values as the welding seam surface profile set elements. Specifically, if Z i+1-Zi > 0, P i+1 can be determined as the contour point, and if Z i+1-Zi < 0, P i can be determined as the sampling point contour point.
S2, screening each contour point in the welding seam surface contour set according to the Euler distance calculation formula to obtain a welding seam surface contour boundary set.
Further, step S1 includes:
S11, calculating a Euler distance S of every 2 continuous contour points according to the Euler distance calculation formula (5):
s12, according to a formula (6), obtaining a Euler distance judgment threshold value xi:
where ψ is a scan speed fluctuation factor of the vision sensor 210, which can weaken the influence of the abnormal scan speed of the vision sensor 210 during the scan.
S13, according to a formula (7), the scanning speed fluctuation factor psi of the vision sensor 210 is obtained:
Wherein, the minimum speed of the scanning process of the V min visual sensor 210, and the maximum speed of the scanning process of the V max visual sensor 210.
S14, judging whether the Euler distance of every 2 continuous contour points is smaller than an Euler distance judging threshold value.
And S15a, if the Euler distance of every 2 continuous contour points is smaller than the Euler distance judgment threshold, judging the 2 continuous contour points as the contour boundary set elements of the welding line surface.
And S16b, if the Euler distance of every 2 continuous contour points is not smaller than the Euler distance judgment threshold, judging that the 2 continuous contour points are not weld surface contour boundary set elements.
The welding seam surface profile set is a set-free set, and in order to ensure that the swing parameter setting is implemented in welding and the starting point of the welding gun 242 is calibrated, the unordered set of the welding seam surface profiles of the box girder 300 to be welded is sequenced and generalized and then communicated to be the boundary characteristics of the welding seam surface profiles of the box girder 300 to be welded, so that whether sampling points of the welding seam surface profile set in the step S1 are adjacent or not is judged.
S2, establishing an angular point judgment model according to the acquired angle adjustment factors comprising the weld joint chamfering information, the weld joint contour edge missing information and the weld joint offset information, and carrying out iterative processing on each element input angular point judgment model of the weld joint surface contour boundary set to obtain a weld joint surface angular point set.
Further, step S2 includes:
S21, combining all contour points of the contour boundary set of the welding seam surface into a group by using 3 adjacent contour points, wherein three-dimensional coordinates are respectively Pj(Xj,Yj,Zj)、Pj+1(Xj+1,Yj+1,Zj+1)、Pj+2(Xj+2,Yj+2,Zj+2).
S22, respectively obtaining the horizontal coordinate difference values of 3 adjacent contour points through a formula (8), a formula (9), a formula (10) and a formula (11)Difference of vertical coordinates/>
S23, at/>And under the condition that the values are 0, the condition judgment of the formula (12) is carried out. At/>/>And when the two points are 0, P j+1 is a candidate point of the corner point of the weld surface.
Wherein,Is an angle adjustment factor,/>In relation to the machining conditions of the box girder 300 to be welded. The conditions of chamfer, missing contour edge, offset of processing route and the like of the welding line of the box girder 300 to be welded are set as angle adjustment factors.
And S24, if the condition of the formula (12) is met, judging that P j+1 is that the weld surface corner is a weld surface corner set element.
S3, every 3 adjacent weld surface angular points are connected pairwise to form a plurality of planes, and a unique plane center point is calculated to be used as a weld section track profile center point by combining the normal vector of each plane.
The geometric characteristic relationship (two straight lines formed by the corner points and the adjacent points of the corner points are perpendicular) between the geometric characteristic relationship (the product is 0) between the plane constructed by the corner points of the surface of the adjacent welding seam and the normal vector geometric characteristic of the plane can be used for solving the unique plane center point which is used as the center point of the profile of the section track of the welding seam to determine the displacement track of the welding gun 242.
S4, according to the normal vector of the weld track plane where the 2 adjacent weld surface angular points and the weld cross section track profile central point are located, solving the bidirectional angle deviation of the welding gun and the weld track by combining a trigonometric function calculation formula.
Further, before step S4, the method further includes:
g1, referring to FIG. 4, a weld cross-section trajectory profile center point O (X 1,Y1,Z1) is obtained.
And G2, taking 2 adjacent weld surface corner points from the weld surface corner point set, wherein the two adjacent weld surface corner points are respectively B (X 1-n,Y1+m,Zb) and C (X 1+n,Y1+m,Zc).
And G3, establishing a three-dimensional coordinate system with a weld joint section track profile central point O (X 1,Y1,Z1) as an origin.
And G4, acquiring an auxiliary point A (X 1,Y1-m,Za) and an auxiliary point D (X 1,Y1+m,Zd) which are in the same plane with the weld surface angular point B, the weld surface angular point C and the weld section track profile central point O.
And G5, according to the formula (13), solving the normal vector lambda of the plane where the auxiliary point A, the auxiliary point D, the weld surface angular point B, the weld surface angular point C and the weld section track profile central point O are located.
The distance between the auxiliary point A and the auxiliary point D is 2m, and the distance between the welding line surface angular point B and the welding line surface angular point C is 2n.
Further, step S4 includes:
S41, obtaining geometrical relations of height coordinates of a welding seam section track outline central point O, an auxiliary point A, a welding seam surface corner point B, a welding seam surface corner point C and the auxiliary point A according to the fact that the product of a normal vector of a welding seam track plane and an arbitrary vector of the welding seam track plane is 0:
S42, referring to figures 5-6, acquiring the intention of the transverse deflection angle of the welding seam and the intention of the longitudinal deflection angle of the welding seam according to the horizontal projection of the connecting line of the auxiliary point A and the auxiliary point D and the horizontal projection of the connecting line of the corner point B of the surface of the welding seam and the corner point C of the surface of the welding seam.
S43, according to a trigonometric function calculation formula (16), a welding line transverse deflection angle alpha is obtained:
according to a trigonometric function calculation formula (17), a longitudinal deflection angle beta of the welding line is calculated:
s5, based on the center point of the profile of the welding seam section track and the two-way angle deviation, controlling the displacement adjusting motor and the angle adjusting motor to finish positioning adjustment of the welding seam track.
On the other hand, referring to fig. 7-11, the invention also discloses a weld track recognition positioning device, which comprises:
and a controller for executing the welding seam track identification method of the electro-gas welding.
The vision sensor 210 is connected with the controller and is used for scanning the surface of the welding seam to obtain a plurality of sampling points.
And the displacement adjusting assembly is connected with the controller and is used for adjusting the displacement track of the welding gun 242 based on the center point information of the welding line section track profile of the controller.
And the angle adjusting component is connected with the controller and is used for adjusting the welding angle of the welding gun 242 based on the bidirectional angle deviation amount information of the welding gun 242 and the welding seam track of the controller.
And the welding assembly is connected with the controller and is used for welding the welding seam under the control instruction of the controller.
Wherein the controller includes:
The welding seam surface profile point acquisition module is used for acquiring a welding seam surface profile set.
And the welding seam surface contour point screening module is used for screening each contour point in the welding seam surface contour set according to the Euler distance calculation formula to obtain a welding seam surface contour boundary set.
The corner judgment model building module is used for building a corner judgment model according to the angle adjustment factors;
And the weld surface angle screening module is used for carrying out iterative processing on each element input corner judgment model of the weld surface contour boundary set to obtain the weld surface corner set.
The welding seam section track profile central point acquisition module is used for connecting every 3 adjacent welding seam surface angular points pairwise to form a plurality of planes, and solving a unique plane central point as a welding seam section track profile central point by combining the normal vector of each plane.
The bidirectional angle deviation amount obtaining module is configured to calculate the bidirectional angle deviation amount of the welding gun 242 and the welding seam track according to the normal vector of the welding seam track plane formed by the 2 adjacent welding seam surface angular points and the plane center point and combining with a trigonometric function calculation formula.
And the welding gun 242 positioning adjustment module is used for controlling the displacement adjustment motor and the angle adjustment motor to finish positioning adjustment of the welding seam track based on the center point of the welding seam section track profile and the bidirectional angle deviation.
Further, the displacement adjustment assembly includes: a lateral displacement ramp 221, a longitudinal displacement ramp 222, a lateral displacement motor 223, and a longitudinal displacement motor 224. The lateral displacement ramp 221 is disposed on the longitudinal displacement ramp 222, the lateral displacement ramp 221 being provided with a visual sensor 210 and a welding assembly. The lateral displacement motor 223 is disposed at one side of the lateral displacement slide 221, and is used for driving the vision sensor 210 and the welding assembly to perform lateral displacement. The longitudinal displacement motor 224 is disposed at one side of the longitudinal displacement slide 222, and is used for driving the vision sensor 210 and the welding assembly to perform longitudinal displacement.
The angle adjustment assembly includes: a lateral rotation motor 231, a longitudinal rotation motor 232, and a rotation connection block 233. The transverse rotating motor 231 and the longitudinal rotating motor 232 are connected with the welding assembly through the rotating connection block 233 and are used for driving the welding assembly to rotate at a transverse angle and a longitudinal angle.
Further, the welding assembly includes: a cooling copper block 241, a welding gun 242, a front rail connecting block 243, a rear rail connecting block 244, and a lifting rail 245; the cooling copper block 241 is arranged on one side of the welding seam and used for reducing the temperature of the welding seam during welding; a welding gun 242 is arranged on the transverse displacement slideway 221 and is used for welding a welding line; the front rail connecting block 243 is respectively connected with the longitudinal displacement slideway 222 and the lifting rail 245, and is used for driving the longitudinal displacement slideway 222 to climb along the direction of the lifting rail 245, so as to drive the welding gun 242 to climb along the direction of the lifting rail 245; the rear rail connecting block 244 is fixedly connected with the rotary connecting block 233 and the lifting rail 245 respectively, and is used for driving the lifting rail 245 to rotate so as to drive the welding gun 242 to rotate.
Further, the weld track recognition positioning device further comprises: positioning tooling 250 and lifting tooling. The positioning fixture 250 includes: the clamping block 252 is provided with the thrust screw 254 and is connected with the positioning body 251 through the clamping slide 253, and the supporting plate 255 is provided with a lifting hole and is connected with the positioning body 251 and the rotary connecting block 233 respectively. The hoisting tool comprises: the device comprises a fixing mechanism 101, a rotary slide rail 102, a rotary mechanism 103, a translation slide rail 104, a lifting mechanism 105 and a lifting hook 106 which are connected in sequence.
In a specific embodiment, with the implementation of electro-gas welding of the box girder 300 to be welded as a background, after the implementation of welding is started and the accuracy and reliability of the fixing mechanism 101 are confirmed, manually transferring the box girder 300 to be welded to a device reachable range, adjusting the rotating mechanism 103 of the translation sliding rail 104, so that the electro-gas welding device 200 can cover as much of the welding seam of the box girder 300 to be welded as possible, and adjusting the translation sliding rail 104 and the lifting mechanism 105, so that the electro-gas welding device 200 is positioned above the welding seam to be welded; as shown in fig. 8, the positioning tool 250 is placed on the vertical plate of the box beam 300 to be welded, the vertical plate of the positioning main body 251 is parallel to the vertical plate of the box beam 300 to be welded, the clamping slideway 253 is vertical to the vertical plate of the box beam 300 to be welded, and the clamping block 252 and the positioning main body 251 simultaneously clamp the vertical plate of the box beam 300 to be welded by manually adjusting the thrust screw 254, so that the rough positioning of the electro-pneumatic vertical welding equipment 200 is completed.
In summary, the invention optimally designs a method for identifying the track profile of the welding line surface of the box girder 300 to be welded, a method for identifying the track profile corner point of the welding line section of the box girder 300 to be welded, and a method for identifying the inclination angle of a workpiece relative to the welding gun 242. Firstly, when the weld surface track profile is identified, euclidean distance calculation judgment is introduced, and the judgment threshold value of the Euclidean distance calculation is defined in combination with the particularity of the weld surface track profile to judge the adjacent points of the weld surface profile set. Secondly, when the recognition calculation of the angular points of the track outline of the weld surface is carried out, two straight lines are constructed by utilizing two adjacent sampling points on the basis of a three-point method, according to the geometric relationship between the two straight lines, an angle adjustment factor is set in combination with the processing deviation amount of the track outline of the weld surface, and finally the angular points are determined through multi-condition screening. And then, determining a plane normal vector equation by using a three-point method, mapping by using a line-plane relation, solving a trigonometric function of the rotation angle of the workpiece, and inversely solving the two-way angle deviation. And finally, positioning and adjusting the weld joint track by using the center point of the profile of the weld joint section track and the two-way angle deviation.
Since the system/device described in the foregoing embodiments of the present invention is a system/device used for implementing the method of the foregoing embodiments of the present invention, those skilled in the art will be able to understand the specific structure and modification of the system/device based on the method of the foregoing embodiments of the present invention, and thus will not be described in detail herein. All systems/devices used in the methods of the above embodiments of the present invention are within the scope of the present invention.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the terms first, second, third, etc. are for convenience of description only and do not denote any order. These terms may be understood as part of the component name.
Furthermore, it should be noted that in the description of the present specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with the embodiment or example being included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art upon learning the basic inventive concepts. Therefore, the appended claims should be construed to include preferred embodiments and all such variations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, the present invention should also include such modifications and variations provided that they come within the scope of the following claims and their equivalents.
Claims (10)
1. A weld trajectory recognition positioning method, characterized in that the method is applied to an electro-pneumatic welding device equipped with a displacement adjustment motor and an angle adjustment motor, the method comprising:
Screening each contour point in the obtained welding seam surface contour set according to the Euler distance calculation formula to obtain a welding seam surface contour boundary set;
Establishing an angular point judgment model according to the acquired angle adjustment factors comprising weld joint chamfering information, weld joint contour edge missing information and weld joint offset information, and carrying out iterative processing on each element input angular point judgment model of a weld joint surface contour boundary set to obtain a weld joint surface angular point set;
every 3 adjacent weld surface angular points are connected pairwise to form a plurality of planes, and a unique plane center point is calculated to be used as a weld section track profile center point by combining the normal vector of each plane;
According to the normal vector of a weld joint track plane where 2 adjacent weld joint surface angular points and a weld joint section track profile central point are located, solving the bidirectional angle deviation value of a welding gun and a weld joint track by combining a trigonometric function calculation formula;
and controlling the displacement adjusting motor and the angle adjusting motor to finish positioning adjustment of the weld joint track based on the center point of the profile of the weld joint section track and the two-way angle deviation.
2. The method for recognizing and positioning a weld path according to claim 1, wherein before screening each contour point in the obtained set of contours of the weld surface according to the euler distance calculation formula to obtain the set of contours of the weld surface, further comprising:
performing Chinese character 'ri' scanning on the surface of the weld seam through a preset visual sensor, and constructing a three-dimensional coordinate system with the visual sensor as a base point to obtain a plurality of sampling coordinates P i(Xi,Yi,Zi;
and (5) calculating the transverse coordinate variation in the sampling coordinates:
△X＝∣Xi+1-Xi∣＝Vx*△t (1)
Wherein V x is the transverse scanning speed of the vision sensor, deltat is the scanning period, and i is the sampling coordinate number;
calculating the longitudinal coordinate variation in the sampling coordinates:
Δy= |y i+1-Yi∣＝Vy ×Δt (2), where V y is the longitudinal scan speed of the vision sensor, Δt is the scan period;
according to the distance value from the coordinate base point to the scanning light spot of the vision sensor, the height coordinate variable quantity in the sampling coordinate is obtained:
△Z＝∣Zi+1-Zi∣＝H (3)
Wherein H is the height of the welding seam;
Judging whether each sampling coordinate is a sampling point or not according to a sampling point judging condition formula (4);
|X i+1-Xi∣＞0∪∣Yi+1-Yi | >0 and DeltaZ= |Z i+1-Zi | > 0.5τH (4)
Wherein τ is the minimum adjustment factor, H is the weld height;
And comparing the values of the height coordinate values of every 2 continuous sampling points, and judging the sampling points with large values of the height coordinate values as the elements of the welding seam surface profile set.
3. The weld trajectory identification positioning method of claim 2, wherein the screening each contour point in the acquired set of weld surface contours according to the euler distance calculation formula to obtain the set of weld surface contour boundaries comprises:
according to Euler distance calculation formula (5), obtaining Euler distance S of every 2 continuous contour points:
According to the formula (6), a Euler distance judgment threshold value xi is obtained:
wherein, psi is the scanning speed fluctuation factor of the vision sensor;
according to the formula (7), the scanning speed fluctuation factor psi of the vision sensor is obtained;
ψ＝0.5(Vmin+Vmax) (7)
Wherein, the minimum speed of the V min visual sensor scanning process, the maximum speed of the V max visual sensor scanning process;
Judging whether the Euler distance of every 2 continuous contour points is smaller than the Euler distance judging threshold value or not;
If the Euler distance of every 2 continuous contour points is smaller than the Euler distance judgment threshold, judging the 2 continuous contour points as the contour boundary set elements of the weld surface;
And if the Euler distance of every 2 continuous contour points is not smaller than the Euler distance judging threshold value, judging that the 2 continuous contour points are not the surface contour boundary set elements of the welding seam.
4. The weld trajectory recognition positioning method of claim 3, wherein establishing a corner judgment model according to the acquired angle adjustment factors including weld chamfer information, weld contour edge deletion information and weld offset information, and inputting each element of the weld surface contour boundary set into the corner judgment model for iterative processing, and obtaining the weld surface corner set comprises:
Combining all contour points of the contour boundary set of the welding seam surface into a group by 3 adjacent contour points, wherein three-dimensional coordinates are respectively Pj(Xj,Yj,Zj)、Pj+1(Xj+1,Yj+1,Zj+1)、Pj+2(Xj+2,Yj+2,Zj+2);
Respectively solving the horizontal coordinate difference values of 3 adjacent contour points through a formula (8), a formula (9), a formula (10) and a formula (11)Difference of vertical coordinates/>
At the position of/>Under the condition of 0, carrying out the condition judgment of the formula (12);
wherein, Is an angle adjustment factor;
If the condition of the formula (12) is satisfied, it is determined that P j+1 is that the weld surface corner is a weld surface corner set element.
5. The weld path identifying and positioning method according to claim 1, further comprising, before calculating the amount of the bidirectional angle deviation of the welding gun and the weld path according to the normal vector of the weld path plane where the 2 adjacent weld surface angular points and the weld section path profile center point are located in combination with the trigonometric function calculation formula:
Acquiring a welding line section track profile center point O (X 1,Y1,Z1);
2 adjacent weld surface corner points are taken from the weld surface corner point set, namely B (X 1-n,Y1+m,Zb) and C (X 1+n,Y1+m,Zc) respectively;
Establishing a three-dimensional coordinate system with a weld joint section track profile center point O (X 1,Y1,Z1) as an origin;
acquiring an auxiliary point A (X 1,Y1-m,Za) and an auxiliary point D (X 1,Y1+m,Zd) which are on the same plane with the weld surface corner B, the weld surface corner C and the weld section track profile center point O;
According to the formula (13), the normal vector lambda of the plane where the auxiliary point A, the auxiliary point D, the weld surface corner B, the weld surface corner C and the weld cross section track profile center point O are located is obtained:
The distance between the auxiliary point A and the auxiliary point D is 2m, and the distance between the welding line surface angular point B and the welding line surface angular point C is 2n.
6. The weld path identifying and positioning method according to claim 5, wherein the calculating of the bidirectional angle deviation between the welding gun and the weld path by combining the trigonometric function calculation formula according to the normal vector of the weld path plane where the 2 adjacent weld surface angular points and the weld section path profile center point are located comprises:
Obtaining geometrical relations of height coordinates of a welding seam section track outline central point O, an auxiliary point A, a welding seam surface corner point B, a welding seam surface corner point C and an auxiliary point A according to the fact that the product of a normal vector of a welding seam track plane and an arbitrary vector of the welding seam track plane is 0:
acquiring a weld joint transverse deflection angle intention and a weld joint longitudinal deflection angle intention according to the horizontal plane projection of the connecting line of the auxiliary point A and the auxiliary point D and the horizontal plane projection of the connecting line of the weld joint surface angular point B and the weld joint surface angular point C;
according to a trigonometric function calculation formula (16), the transverse deflection angle alpha of the welding line is calculated:
according to a trigonometric function calculation formula (17), a longitudinal deflection angle beta of the welding line is calculated:
7. a weld trajectory identification positioning device, characterized by comprising:
A controller for performing the seam track recognition method of electro-gas welding of claims 1-6;
the visual sensor is connected with the controller and is used for scanning the surface of the welding seam to obtain a plurality of sampling points;
the displacement adjusting component is connected with the controller and is used for adjusting the displacement track of the welding gun based on the central point information of the track profile of the welding line section of the controller;
the angle adjusting component is connected with the controller and is used for adjusting the welding angle of the welding gun based on the bidirectional angle deviation amount information of the welding gun and the welding seam track of the controller;
and the welding assembly is connected with the controller and is used for welding the welding seam under the control instruction of the controller.
8. The weld trajectory identification and localization apparatus of claim 7,
The displacement adjustment assembly includes: the device comprises a transverse displacement slideway, a longitudinal displacement slideway, a transverse displacement motor and a longitudinal displacement motor;
The transverse displacement slideway is arranged on the longitudinal displacement slideway, and is provided with a visual sensor and a welding assembly;
The transverse displacement motor is arranged at one side of the transverse displacement slideway and used for driving the visual sensor and the welding assembly to carry out transverse displacement;
the longitudinal displacement motor is arranged at one side of the longitudinal displacement slideway and used for driving the visual sensor and the welding assembly to carry out longitudinal displacement;
the angle adjustment assembly includes: a transverse rotating motor, a longitudinal rotating motor and a rotating connection block;
The transverse rotating motor and the longitudinal rotating motor are connected with the welding assembly through rotating connecting blocks and are used for driving the welding assembly to rotate transversely and longitudinally.
9. The weld trajectory identification and location device of claim 8, wherein the welding assembly comprises: the welding gun comprises a cooling copper block, a welding gun, a front rail connecting block, a rear rail connecting block and a lifting rail;
The cooling copper block is arranged on one side of the welding seam and used for reducing the temperature of the welding seam during welding;
The welding gun is arranged on the transverse displacement slideway and is used for welding a welding line;
The front track connecting block is respectively connected with the longitudinal displacement slideway and the lifting track and is used for driving the longitudinal displacement slideway to climb along the direction of the lifting track so as to drive the welding gun to climb along the direction of the lifting track;
the rear track connecting block is fixedly connected with the rotary connecting block and the lifting track respectively and is used for driving the lifting track to rotate so as to drive the welding gun to rotate.
10. The weld trajectory identification and locating device of claim 8, including: positioning tools and lifting tools;
the location frock includes: the clamping block is provided with the thrust screw and is connected with the positioning main body through the clamping slide way, and the supporting plate is provided with a lifting hole and is respectively connected with the positioning main body and the rotary connecting block;
the hoisting tool comprises: the device comprises a fixing mechanism, a rotary slide rail, a rotary mechanism, a translation slide rail, a lifting mechanism and a lifting hook which are connected in sequence.
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| CN202311796213.5A CN117900597A (en) | 2023-12-25 | 2023-12-25 | Weld joint track identification positioning method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311796213.5A CN117900597A (en) | 2023-12-25 | 2023-12-25 | Weld joint track identification positioning method and device |
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