CN212256371U - Welding tracking device and welding equipment - Google Patents
Welding tracking device and welding equipment Download PDFInfo
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Abstract
The utility model belongs to the technical field of the welding, especially, relate to a welding tracer and welding equipment, wherein welding tracer includes: a data acquisition module; the coordinate error analysis module is used for comparing the coordinates of the discrete points of the welding seam with the coordinate data of a preset ideal workpiece model and calculating the coordinate errors of the discrete points of the welding seam and the ideal welding seam on the ideal workpiece model; and the coordinate determination calculation module is used for calculating the coordinate of the real welding seam point according to the coordinate error value and the coordinate of the ideal welding seam point so as to control the welding operation according to the coordinate of the real welding seam point. The embodiment of the utility model provides a welding equipment is through scanning real work piece, will prepare welded real work piece and standard ideal work piece model and carry out the comparison, then calculate the error between real work piece welding seam and the ideal work piece model welding seam, calculate the real welding seam point of real work piece, definite welding seam point that can be accurate, and then realize that the welding tracks.
Description
Technical Field
The utility model belongs to the technical field of the welding, especially, relate to a welding tracer and welding equipment.
Background
In recent 20 years, with the development of digitization, automation, computer and mechanical design technologies and the high importance on welding quality, automatic welding has developed into an advanced manufacturing technology, and automatic welding equipment plays an increasingly important role in various industrial applications, and the application range is rapidly expanding. In the manufacturing process of pipelines with special shapes, pipe fittings (such as straight pipes and bent pipes) with different shapes are assembled in different postures to obtain pipelines with complex structures, and the pipelines are used for conveying energy, gas and the like.
For irregular pipelines, at present, more manufacturers adopt a manual welding mode, the welding efficiency is low, the welding quality uniformity is low, and the labor cost is high. In order to accelerate welding efficiency and reduce labor intensity of workers, manufacturing enterprises of large ships, nuclear power and the like adopt a mode of combining a positioner and manpower, the welding mode is semi-automatic welding, the dependence of welding quality on the skill of the workers is high, radiation, smoke and dust and the like in the welding process seriously affect physical and mental health of the workers, welding seams of simple shapes such as simple straight lines, broken lines and the like are mainly carried out, bent pipes or other parts with slightly complex shapes are difficult to weld flexibly and continuously due to the fact that the welding seams are irregular, the welding seams are difficult to track and detect, the quality of the welding seams is difficult to guarantee to be consistent, and the welding efficiency is low.
Therefore, the welding equipment in the prior art can mainly weld simple regular welding seams, and the welding seams of the welding seams cannot be effectively tracked under the condition of irregular shapes, so that the welding quality is difficult to ensure.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the utility model is to provide a welding tracer and welding equipment aims at solving the unable effectual accurate problem of pursuit return bend welding seam of welding equipment among the prior art.
The embodiment of the utility model is realized in such a way,
an object of the embodiment of the utility model is to provide a welding tracer, include:
the data acquisition module is used for acquiring real welding seam data of a real workpiece and determining the coordinates of discrete points of the welding seam;
the coordinate error analysis module is used for comparing the coordinates of the discrete welding point with the coordinate data of a preset ideal workpiece model, calculating the coordinate error between the discrete welding point and the ideal welding point on the ideal workpiece model, and determining a coordinate error value;
and the coordinate determination calculation module is used for calculating the coordinate of the real welding seam point according to the coordinate error value and the coordinate of the ideal welding seam point so as to control the welding operation according to the coordinate of the real welding seam point.
Another object of the embodiment of the utility model is to provide a welding equipment, including the base, the fixed linear guide that is provided with in top of base, its characterized in that still includes:
the scanning welding assembly comprises a welding tracking device, a control device and a welding device, wherein the welding tracking device is used for determining the coordinate of a real welding seam point, and the control device is used for controlling the welding device to weld according to the coordinate of the real welding seam point;
the workpiece fixing assembly is used for fixing a real workpiece.
Preferably, the scanning welding assembly further comprises:
the laser scanning module is used for scanning a real workpiece and acquiring real welding seam data of the real workpiece;
the laser scanning module and the welding device are arranged on the moving module, and the moving module can movably adjust the positions of the laser scanning module and the welding device to adapt to welding operation.
Preferably, the workpiece holding assembly comprises:
the positioner is provided with a workpiece clamp, and the workpiece clamp is used for clamping a real workpiece; the positioner can rotate the workpiece clamp to drive the real workpiece to adjust the posture.
Preferably, the control device is a control cabinet, and the control cabinet is fixedly arranged at one end of the top of the base.
Preferably, welding set includes welder, and the laser scanning module includes laser scanner, and laser scanner is located welder's one side, the removal module includes transverse guide and vertical guide, the bottom and the linear guide sliding connection of vertical guide, and transverse guide sets up in vertical guide's one side and sliding connection with it, and welder and laser scanner all are located transverse guide's one end.
Preferably, the machine of shifting is equipped with two, and one of them machine of shifting is fixed to be set up in the top one end of base, and another machine of shifting sets up on linear guide and sliding connection with it, and work piece holder is fixed to be set up in the adjacent side of two machines of shifting, and work piece holder includes the swinging boom, and the one end of swinging boom is fixed to be set up on the machine of shifting, is equipped with a plurality of clamp splice on the swinging boom, and a plurality of clamp splice surround and form circularly, the equal fixedly connected with connecting block in bottom of every clamp splice, the fixed sharp module that is equipped with between connecting block.
The utility model discloses a scan true work piece, will prepare welded true work piece and standard ideal work piece model and carry out the comparison, then calculate the error between true work piece welding seam and the ideal work piece model welding seam, calculate the true welding seam point of true work piece, definite welding seam point that can be accurate, and then realize that the welding tracks, the pursuit of carrying out the solder joint that can be accurate improves welding efficiency and welding precision.
Drawings
Fig. 1 is a flowchart of a welding tracking method according to an embodiment of the present invention;
fig. 2 is a flowchart of another welding tracking method according to an embodiment of the present invention;
fig. 3 is a flowchart of another welding tracking method according to an embodiment of the present invention;
fig. 4 is a flowchart of calculating a coordinate error value according to an embodiment of the present invention;
fig. 5 is a flowchart for calculating the coordinates of the real weld points according to the embodiment of the present invention;
fig. 6 is a schematic diagram of derivation of an offset calculation formula according to an embodiment of the present invention;
fig. 7 is a block diagram illustrating a welding tracking apparatus according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a welding apparatus provided by an embodiment of the present invention.
Fig. 9 is a schematic structural diagram of a mobile module according to an embodiment of the present invention;
fig. 10 is a block diagram of a workpiece holder according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a workpiece holder according to an embodiment of the present invention.
In the drawings: 100. scanning the welded assembly; 110. a welding tracking device; 120. a welding device; 130. a laser scanning module; 140. a moving module; 1401. a vertical guide rail; 1402. a transverse guide rail; 200. a workpiece fixing assembly; 210. a position changing machine; 220. a workpiece holder; 2201. a rotating arm; 2202. a clamping block; 2203. connecting blocks; 2204. a linear module; 300. a real workpiece; 400. a base; 401. a linear slide rail.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms unless otherwise specified. These terms are only used to distinguish one element from another. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script, without departing from the scope of the present application.
Example one
As shown in fig. 7, in an embodiment, a welding tracking apparatus is provided, which may be integrated in the above computer device, and specifically may include:
the data acquisition module 710 is used for acquiring real weld data of a real workpiece and determining coordinates of discrete points of a weld;
the coordinate error analysis module 720 is used for comparing the coordinates of the discrete welding point with the coordinate data of a preset ideal workpiece model, calculating the coordinate error between the discrete welding point and the ideal welding point on the ideal workpiece model, and determining a coordinate error value;
and the coordinate determination calculation module 730 is configured to calculate coordinates of a real weld point according to the coordinate error value and the coordinates of the ideal weld point, so as to control welding operation according to the coordinates of the real weld point.
The embodiment of the utility model provides an in, because no matter acquire the data of true work piece through the mode of imagineing or scanning, what obtain all is a series of discrete welding seam points, need to put together discrete welding seam points and combine ideal workpiece model can be accurate find the true welding seam point of tracing the true work piece.
The preset ideal workpiece model may be a model established by three-dimensional building software, and the weld joint point on the model are theoretical optimal values, or the model may be referred by scanning a sample workpiece as a standard, which does not give further examples, and a person skilled in the art may set data of the ideal workpiece model according to actual needs.
In one embodiment, coordinate error analysis module 720 is further configured to perform the following steps:
and acquiring a preset ideal workpiece model, and converting the ideal workpiece model and the real workpiece into the same coordinate system according to the same reference point, so that the coordinate data of the ideal workpiece model and the real workpiece are in the same coordinate reference system.
It is understood that, in the embodiment of the present invention, in order to compare the ideal workpiece model with various parameter data of the real workpiece, the two models are necessarily converted into the same coordinate system, and the positions of the two models are consistent with each other with respect to the reference point of the coordinate system.
Specifically, in the embodiment of the present invention, the coordinate system where the real workpiece is located may be recorded as C1Let the coordinate system of the ideal workpiece model be C2Then calculated by using a transformation matrix, i.e. converting the matrix to M12If P is the coordinate value in the C1 coordinate systemC1The coordinate value P of the point in the C2 coordinate system can be obtained by the following conversion formulaC2：
PC2＝M12 PC1
For the transformation of the coordinate system or the placement of the real workpiece and the ideal workpiece model in the same coordinate system, the implementation modes are various, the calculation is performed only by using the transformation matrix, and the technical personnel in the field can also adopt other transformation modes according to the actual needs, mainly aiming at conveniently comparing the weld discrete point of the real workpiece with the ideal weld point of the ideal workpiece model in the follow-up process.
In one embodiment, coordinate error analysis module 720 is further configured to perform the following steps:
and calculating the coordinates of the welding line point with the shortest distance from the discrete welding line point on the ideal workpiece model according to the coordinates of the discrete welding line point and the coordinate data of the ideal workpiece model, and taking the corresponding coordinates of the welding line point as the coordinates of the ideal welding line point.
The embodiment of the utility model provides an in, after carrying out coordinate unification with ideal work piece model and real work piece, theoretically each point and welding seam between them all are unanimous, but in fact can not accomplish completely unanimous, so need consider the error between theory and the reality, therefore with the welding seam point that the shortest distance corresponds between the welding seam on discrete point of welding seam and the ideal work piece model as this theoretically best welding seam point of discrete point of welding seam, thereby be convenient for calculate the error between welding seam discrete point and the ideal welding seam point, the calculation error that such mode also can be accurate, improve the precision of welding pursuit.
Specifically, the weld is usually linear, and the shortest distance between the discrete point of the weld and the weld of the ideal workpiece model can be calculated by a simple point-to-line shortest distance calculation method, and of course, for different weld shapes, a person skilled in the art can adjust and design according to actual conditions, and no more cases are illustrated here.
In an embodiment, when the coordinate error analysis module 720 compares the coordinates of the discrete points of the weld with the coordinate data of the preset ideal workpiece model, the method specifically includes the following steps:
performing three-dimensional coordinate decomposition according to the coordinates of the discrete points of the welding seam and the corresponding coordinates of the ideal welding seam point to obtain respective three-dimensional coordinate values;
and solving the difference value of the three-dimensional coordinate value of the discrete point of the welding line and the three-dimensional coordinate value of the ideal welding line point according to a preset rule to obtain the coordinate error value of the discrete point of the welding line and the ideal welding line point.
The embodiment of the utility model provides an in, general three-dimensional space all expresses through x/y z triaxial, and spatial coordinates's error is through decomposing to individual direction side and analyzing, and convenient more calculates fast.
Wherein in the embodiment of the utility model the three-dimensional coordinate value with the discrete point of welding seam and the three-dimensional coordinate value of ideal welding seam point solve the difference according to predetermineeing the rule, specifically can be simple three-dimensional coordinate value through the discrete point of welding seam subtracts the three-dimensional coordinate value of ideal welding seam point and calculates the coordinate error value. Specifically, for example, three-dimensional coordinate values of one discrete point of the weld and the next discrete point of the adjacent weld are respectively recorded as [ X ]w1,Yw1,Zw1]And [ X ]w2,Yw2,Zw2]The coordinates of the ideal weld points corresponding to the ideal weld points are [ Xi1, Yi1, Zi1]And [ Xi2, Yi2, Zi2](where the transformation of the coordinate system between the discrete point of the weld and the ideal weld has been completed, both atIn the same coordinate system), we can calculate the error of two discrete points from the ideal position in each direction dimension as:
dX1＝Xw1-Xi1，dX2＝Xw2-Xi2
dY1＝Yw1-Yi1，dY2＝Yw2-Yi2
dZ1＝Zw1-Zi1，dZ2＝Zw2-Zi2
the error calculation between the discrete point of the weld and the ideal weld is described as one of the embodiments, and those skilled in the art can also simply adopt other deformation formulas to specify the rule of the error calculation according to the actual situation, which is not further listed and described herein.
In an embodiment, when the coordinate determination calculating module 730 calculates the coordinate of the real weld point according to the coordinate error value and the coordinate of the ideal weld point, the method specifically includes:
acquiring coordinates of two adjacent welding seam discrete points, coordinates corresponding to two ideal welding seam points and coordinates of a target ideal welding seam point positioned between the two welding seam discrete points;
calculating a first ideal weld arc length between two corresponding ideal weld points, a target ideal weld point and a second ideal weld arc length between one of the two corresponding ideal weld points;
calculating the coordinate offset between the real weld joint and the corresponding ideal weld joint according to the arc length of the first ideal weld joint, the arc length of the second ideal weld joint and the coordinate error value of the two adjacent weld joint discrete points according to a preset offset calculation formula;
and calculating the coordinates of the real welding seam point according to the coordinate offset and the coordinates of the ideal welding seam point.
The embodiment of the present invention provides a preset offset calculation formula can be expressed by the following formula:
dXi＝(dX2-dX1)/s*s1+dX1
in the formula: dXiThe coordinate offset of a certain direction in a three-dimensional space coordinate system between the real welding line point and the corresponding ideal welding line point; dX1、dX2Respectively is a coordinate error value of a certain direction of two adjacent welding line discrete points in a three-dimensional space coordinate system; s is the first ideal weld arc length, s1The second ideal arc length of the weld.
The explanation of the above formula has been introduced in the foregoing embodiment, and the description is not repeated further.
Example two
As shown in fig. 8, for the embodiment of the present invention provides a welding equipment's schematic structure diagram, it specifically includes base 400, and the fixed linear guide 401 that is provided with in top of base 400, its characterized in that still includes:
the scanning welding assembly 100 comprises a welding tracking device 110, a control device and a welding device 120, wherein the welding tracking device 110 is used for determining the coordinates of a real welding seam point, and the control device is used for controlling the welding device 120 to weld according to the coordinates of the real welding seam point;
and a workpiece holding assembly 200 for holding the real workpiece 300.
In the embodiment of the present invention, the scan welding assembly 100 further includes:
the laser scanning module 130 is used for scanning the real workpiece 300 and acquiring real welding seam data of the real workpiece 300;
the moving module 140, the laser scanning module 130 and the welding device are disposed on the moving module 140, and the moving module 140 can movably adjust the positions of the laser scanning module and the welding device to adapt to the welding operation.
As shown in fig. 8, the moving module 140 is disposed by a conventional sliding rail, the welding device 120 may be a device composed of conventional welding robots and common components such as welding guns, and belongs to mature prior art products, and a detailed description thereof is omitted here, and a person skilled in the art can select the welding device according to actual situations.
In the embodiment of the present invention, the workpiece fixing assembly 200 includes:
the positioner 210 is provided with a workpiece clamp 220, and the workpiece clamp 220 is used for clamping the real workpiece 300; the positioner 210 can rotate the workpiece fixture 220 to drive the real workpiece 300 to adjust the posture.
The control device is a control cabinet which is fixedly arranged at one end of the top of the base 400.
As shown in fig. 9, the welding device 120 includes a welding torch, the laser scanning module 130 includes a laser scanner, the laser scanner is located at one side of the welding torch, the moving module 140 includes a transverse rail 1402 and a vertical rail 1401, the bottom end of the vertical rail 1401 is slidably connected to the linear rail 401, the transverse rail 1402 is disposed at one side of the vertical rail 1401 and is slidably connected to the vertical rail 1401, and the welding torch and the laser scanner are both located at one end of the transverse rail 1402.
As shown in fig. 10 and 11, the two displacement machines 210 are provided, one of the displacement machines 210 is fixedly arranged at one end of the top of the base 400, the other displacement machine 210 is arranged on the linear guide rail 401 and is in sliding connection with the linear guide rail 401, the work fixture 220 is fixedly arranged at the adjacent sides of the two displacement machines 210, the work fixture 220 comprises a rotating arm 2201, one end of the rotating arm 2201 is fixedly arranged on the displacement machine 210, a plurality of clamping blocks 2201 are arranged on the rotating arm 2201, a plurality of clamping blocks 2202 are encircled to form a circle, the bottom end of each clamping block 2202 is fixedly connected with a connecting block 2203, and a linear module 2204 is fixedly arranged between the connecting block 2203 and the rotating arm 220.
As shown in fig. 8, the embodiment of the present invention is described by taking two position changing machines as an example, and the fixing effect of the workpiece can be effectively ensured by using the dual position changing machines.
The embodiment of the utility model provides a welding equipment is when using, with spot welded dried small shrimp waist return bend (shown in fig. 8, only make the illustration, the skilled person in the art can weld other products) clamping to the work holder 220 on the machine 210 that shifts, then laser scanning module 130 begins to scan the work piece, begins to weld.
When the welding tracking device and the welding equipment are used, in order to determine the coordinates of the real welding seam points, the following welding tracking method is adopted:
as shown in fig. 1, which is a flowchart of a welding tracking method provided in an embodiment of the present invention, in an embodiment, the welding tracking can be implemented by the following steps:
step S102, acquiring real welding seam data of a real workpiece, and determining coordinates of discrete points of a welding seam;
step S104, comparing the coordinates of the discrete points of the welding seam with the coordinate data of a preset ideal workpiece model, calculating the coordinate error between the discrete points of the welding seam and the ideal welding seam on the ideal workpiece model, and determining the coordinate error value;
and step S106, calculating the coordinates of the real welding seam point according to the coordinate error value and the coordinates of the ideal welding seam point, and controlling the welding operation according to the coordinates of the real welding seam point.
The embodiment of the utility model provides an in, because no matter acquire the data of true work piece through the mode of imagineing or scanning, what obtain all is a series of discrete welding seam points, need to put together discrete welding seam points and combine ideal workpiece model can be accurate find the true welding seam point of tracing the true work piece.
The preset ideal workpiece model may be a model established by three-dimensional building software, and the weld joint point on the model are theoretical optimal values, or the model may be referred by scanning a sample workpiece as a standard, which does not give further examples, and a person skilled in the art may set data of the ideal workpiece model according to actual needs.
In an embodiment, as shown in fig. 2, another welding tracking method provided for the embodiment of the present invention is different from that of fig. 1 in that, before step S104, the following steps may be specifically included:
step S202, a preset ideal workpiece model is obtained, the ideal workpiece model and the real workpiece are converted into the same coordinate system according to the same reference point, and coordinate data of the ideal workpiece model and the real workpiece are in the same coordinate reference system.
It is understood that, in the embodiment of the present invention, in order to compare the ideal workpiece model with various parameter data of the real workpiece, the two models are necessarily converted into the same coordinate system, and the positions of the two models are consistent with each other with respect to the reference point of the coordinate system.
Specifically, in the embodiment of the present invention, the coordinate system where the real workpiece is located may be recorded as C1Let the coordinate system of the ideal workpiece model be C2Then calculated by using a transformation matrix, i.e. converting the matrix to M12If P is the coordinate value in the C1 coordinate systemC1The coordinate value P of the point in the C2 coordinate system can be obtained by the following conversion formulaC2：
PC2＝M12 PC1
For the transformation of the coordinate system or the placement of the real workpiece and the ideal workpiece model in the same coordinate system, the implementation modes are various, the calculation is performed only by using the transformation matrix, and the technical personnel in the field can also adopt other transformation modes according to the actual needs, mainly aiming at conveniently comparing the weld discrete point of the real workpiece with the ideal weld point of the ideal workpiece model in the follow-up process.
As shown in fig. 3, another welding tracking method provided in the embodiment of the present invention is different from that shown in fig. 2 in that the method further includes the following steps:
step S302, according to the coordinates of the discrete points of the welding seam and the coordinate data of the ideal workpiece model, the coordinates of the welding seam points on the ideal workpiece model, which are the shortest in distance from the discrete points of the welding seam, are calculated, and the coordinates of the corresponding welding seam points are used as the coordinates of the ideal welding seam points.
The embodiment of the utility model provides an in, after carrying out coordinate unification with ideal work piece model and real work piece, theoretically each point and welding seam between them all are unanimous, but in fact can not accomplish completely unanimous, so need consider the error between theory and the reality, therefore with the welding seam point that the shortest distance corresponds between the welding seam on discrete point of welding seam and the ideal work piece model as this theoretically best welding seam point of discrete point of welding seam, thereby be convenient for calculate the error between welding seam discrete point and the ideal welding seam point, the calculation error that such mode also can be accurate, improve the precision of welding pursuit.
Specifically, the weld is usually linear, and the shortest distance between the discrete point of the weld and the weld of the ideal workpiece model can be calculated by a simple point-to-line shortest distance calculation method, and of course, for different weld shapes, a person skilled in the art can adjust and design according to actual conditions, and no more cases are illustrated here.
In an embodiment, as shown in fig. 4, for a flowchart of calculating a coordinate error value provided in the embodiment of the present invention, step S104 may specifically include:
s402, performing three-dimensional coordinate decomposition according to the coordinates of the discrete points of the welding seam and the coordinates of the corresponding ideal welding seam points to obtain respective three-dimensional coordinate values;
and S404, solving the difference value of the three-dimensional coordinate value of the discrete point of the welding line and the three-dimensional coordinate value of the ideal welding line point according to a preset rule to obtain the coordinate error value of the discrete point of the welding line and the ideal welding line point.
The embodiment of the utility model provides an in, general three-dimensional space all expresses through x/y z triaxial, and spatial coordinates's error is through decomposing to individual direction side and analyzing, and convenient more calculates fast.
Wherein in the embodiment of the utility model the three-dimensional coordinate value with the discrete point of welding seam and the three-dimensional coordinate value of ideal welding seam point solve the difference according to predetermineeing the rule, specifically can be simple three-dimensional coordinate value through the discrete point of welding seam subtracts the three-dimensional coordinate value of ideal welding seam point and calculates the coordinate error value. Specifically, for example, three-dimensional coordinate values of one discrete point of the weld and the next discrete point of the adjacent weld are respectively recorded as [ X ]w1,Yw1,Zw1]And [ X ]w2,Yw2,Zw2]The coordinates of the ideal weld points corresponding to the ideal weld points are [ Xi1, Yi1, Zi1]And [ Xi2, Yi2, Zi2](here, the conversion of the coordinate system between the discrete point of the weld and the ideal weld point is completed, and the two are in the same coordinate system), we can calculate the error between the two discrete points and the ideal position in each direction dimension as follows:
dX1＝Xw1-Xi1，dX2＝Xw2-Xi2
dY1＝Yw1-Yi1，dY2＝Yw2-Yi2
dZ1＝Zw1-Zi1，dZ2＝Zw2-Zi2
the error calculation between the discrete point of the weld and the ideal weld is described as one of the embodiments, and those skilled in the art can also simply adopt other deformation formulas to specify the rule of the error calculation according to the actual situation, which is not further listed and described herein.
In an embodiment, as shown in fig. 5, for a flowchart of calculating the real weld point coordinates in the embodiment of the present invention, step S106 may specifically include:
step S502, acquiring coordinates of two adjacent welding seam discrete points, coordinates corresponding to two ideal welding seam points and coordinates of a target ideal welding seam point positioned between the two welding seam discrete points;
step S504, calculating a first ideal weld arc length between two corresponding ideal weld points, a target ideal weld point and a second ideal weld arc length between one of the two corresponding ideal weld points;
step S506, calculating the coordinate offset between the real weld joint and the corresponding ideal weld joint according to the arc length of the first ideal weld joint, the arc length of the second ideal weld joint and the coordinate error value of the two adjacent weld joint discrete points and a preset offset calculation formula;
and step S508, calculating the coordinates of the real welding seam point according to the coordinate offset and the coordinates of the ideal welding seam point.
The embodiment of the present invention provides a preset offset calculation formula can be expressed by the following formula:
dXi＝(dX2-dX1)/s*s1+dX1
in the formula: dXiFor real welding point and corresponding ideal welding lineCoordinate offset in a certain direction in a three-dimensional space coordinate system among the points; dX1、dX2Respectively is a coordinate error value of a certain direction of two adjacent welding line discrete points in a three-dimensional space coordinate system; s is the first ideal weld arc length, s1The second ideal arc length of the weld.
Specifically, as shown in fig. 6, for the embodiment of the utility model provides an in carry out the schematic diagram that offset computational formula derived, the embodiment of the utility model provides an in the every section welding seam of hypothesis, the offset and the arc length linear relation of three-dimensional coordinate between discrete point of welding seam and the ideal welding seam point, then the offset satisfies linear equation E with the arc length ═ ks1+ b, and the equation of the straight line satisfies:
when the welding point is in contact with [ X ]i1,Yi1,Zi1]At the time of coincidence, s1＝0，E＝k*0+b＝ei1. Wherein ei1Is [ X ]i1,Yi1,Zi1]An error value in a certain direction.
When the welding point is in contact with [ X ]i2,Yi2,Zi2]At the time of coincidence, s1＝s，E＝k*s+b＝ei2. Wherein ei2Is [ X ]i2,Yi2,Zi2]An error value in a certain direction; according to the above two conditions, E ═ E can be solvedi2-ei1)/s*s1+ei1Since the errors include X, Y, Z errors in three directions, we can obtain the formula given above assuming that the errors in all directions satisfy the linear relationship between the above errors and the arc length.
The embodiment of the utility model provides a welding equipment is through scanning real work piece, will prepare welded real work piece and standard ideal work piece model and carry out the comparison, then calculate the error between real work piece welding seam and the ideal work piece model welding seam, calculate the real welding seam point of real work piece, definite welding seam point that can be accurate, and then realize that the welding is tracked, the pursuit of carrying out the solder joint that this method can be accurate improves welding efficiency and welding precision.
The embodiment of the utility model provides an in the welding tracking method can be applied to in the computer equipment or the terminal equipment, and the computer equipment can be independent physical server or terminal, also can be the server cluster that a plurality of physical servers constitute, can be the cloud server that provides basic cloud computing services such as cloud server, cloud database, cloud storage and CDN. The terminal device may be, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, and the like. A computer device or a terminal device that is simultaneously applied or executing the welding tracking method in the embodiments of the present invention may be used to guide the welding operation of a welding device (such as a welding robot and other types of welding machines).
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only represent some embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (7)
1. A welding tracking device, comprising:
the data acquisition module is used for acquiring real welding seam data of a real workpiece and determining the coordinates of discrete points of the welding seam;
the coordinate error analysis module is used for comparing the coordinates of the discrete welding point with the coordinate data of a preset ideal workpiece model, calculating the coordinate error between the discrete welding point and the ideal welding point on the ideal workpiece model, and determining a coordinate error value;
and the coordinate determination calculation module is used for calculating the coordinate of the real welding seam point according to the coordinate error value and the coordinate of the ideal welding seam point so as to control the welding operation according to the coordinate of the real welding seam point.
2. The utility model provides a welding equipment, includes the base, and the top of base is fixed and is provided with linear guide, its characterized in that still includes:
the scanning welding assembly comprises a welding tracking device, a control device and a welding device, wherein the welding tracking device is used for determining the coordinate of a real welding seam point, and the control device is used for controlling the welding device to weld according to the coordinate of the real welding seam point;
the workpiece fixing assembly is used for fixing a real workpiece.
3. The welding apparatus of claim 2, wherein the scanning welding assembly further comprises:
the laser scanning module is used for scanning a real workpiece and acquiring real welding seam data of the real workpiece;
the laser scanning module and the welding device are arranged on the moving module, and the moving module can movably adjust the positions of the laser scanning module and the welding device to adapt to welding operation.
4. The welding apparatus of claim 3, wherein the workpiece fixture assembly comprises:
the positioner is provided with a workpiece clamp, and the workpiece clamp is used for clamping a real workpiece; the positioner can rotate the workpiece clamp to drive the real workpiece to adjust the posture.
5. The welding apparatus of claim 2, wherein the control device is a control cabinet, and the control cabinet is fixedly disposed at one end of the top of the base.
6. The welding apparatus of claim 3, wherein the welding device comprises a welding torch, the laser scanning module comprises a laser scanner, the laser scanner is located on one side of the welding torch, the moving module comprises a transverse rail and a vertical rail, a bottom end of the vertical rail is slidably connected with the linear rail, the transverse rail is disposed on one side of the vertical rail and slidably connected with the vertical rail, and the welding torch and the laser scanner are both located on one end of the transverse rail.
7. The welding equipment according to claim 4, wherein the positioner is provided with two positioner, one of the positioner is fixedly arranged at one end of the top of the base, the other positioner is arranged on the linear guide rail and is in sliding connection with the linear guide rail, the work fixture is fixedly arranged at the adjacent sides of the two positioner, the work fixture comprises a rotating arm, one end of the rotating arm is fixedly arranged on the positioner, the rotating arm is provided with a plurality of clamping blocks, the plurality of clamping blocks surround to form a circle, the bottom end of each clamping block is fixedly connected with a connecting block, and a linear module is fixedly arranged between the connecting block and the rotating arm.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113664403A (en) * | 2021-08-18 | 2021-11-19 | 中国第一汽车股份有限公司 | Self-adaptive automobile frame welding method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113664403A (en) * | 2021-08-18 | 2021-11-19 | 中国第一汽车股份有限公司 | Self-adaptive automobile frame welding method and system |
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Denomination of utility model: A welding tracking device and welding equipment Effective date of registration: 20211223 Granted publication date: 20201229 Pledgee: Bank of China Limited by Share Ltd. Guangzhou Panyu branch Pledgor: GUANGZHOU YUANSHENG AUTOMATION TECHNOLOGY Co.,Ltd. Registration number: Y2021980016130 |
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Granted publication date: 20201229 Pledgee: Bank of China Limited by Share Ltd. Guangzhou Panyu branch Pledgor: GUANGZHOU YUANSHENG AUTOMATION TECHNOLOGY Co.,Ltd. Registration number: Y2021980016130 |