NL2026939B1 - Image identification-based automatic parallel sealing welding device and sealing welding method - Google Patents

Image identification-based automatic parallel sealing welding device and sealing welding method Download PDF

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Publication number
NL2026939B1
NL2026939B1 NL2026939A NL2026939A NL2026939B1 NL 2026939 B1 NL2026939 B1 NL 2026939B1 NL 2026939 A NL2026939 A NL 2026939A NL 2026939 A NL2026939 A NL 2026939A NL 2026939 B1 NL2026939 B1 NL 2026939B1
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Netherlands
Prior art keywords
welding
seam welding
spot welding
seam
motor
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NL2026939A
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Dutch (nl)
Inventor
Su Xiaofeng
Zou Jun
Xu Yongke
Jin Weigang
Wang Guoxing
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Yantai Huachuang Intelligent Equipment Co Ltd
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Priority to NL2026939A priority Critical patent/NL2026939B1/en
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Publication of NL2026939B1 publication Critical patent/NL2026939B1/en

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Classifications

    • 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
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/06—Resistance welding; Severing by resistance heating using roller electrodes
    • 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
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/10—Spot welding; Stitch welding
    • B23K11/11—Spot welding
    • 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
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/36—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0235—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member forming part of a portal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0408—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work for planar work
    • 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
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/36—Electric or electronic devices
    • B23K2101/42—Printed circuits

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Resistance Welding (AREA)

Abstract

The invention provides an image identification-based automatic parallel sealing welding device and sealing welding method for welding fine electronic products. The welding device comprises bottom plate, product tooling positioning mechanism, spot welding positioning mechanism, seam welding positioning mechanism, visual inspection system and control system. The product tooling positioning mechanism comprises a longitudinal reciprocating mechanism and a rotating mechanism mounted thereon. The longitudinal reciprocating mechanism is mounted on the bottom plate. The product tooling is installed on the rotating mechanism, two parallel frame vertical plates are installed on the bottom plate, the spot welding positioning mechanism and the seam welding positioning mechanism are installed on the frame vertical plates, spot welding and seam welding electrode wheels are installed on the spot welding respectively the seam welding positioning mechanism, the inspection system is installed on the spot welding positioning mechanism. The invention increases automation degree, production efficiency, product air tightness, appearance quality.

Description

IMAGE IDENTIFICATION-BASED AUTOMATIC PARALLEL SEALING
WELDING DEVICE AND SEALING WELDING METHOD Technical Field The present invention relates to an image identification-based automatic parallel sealing welding device and a sealing welding method, belonging to the field of the welding technology of fine electronic products. Background With the rapid development of science and technology, electronization of products has become an irreversible trend, especially in high-end refinement fields such as military, aerospace, and automotive electronics; thus, it puts forward strict requirements for the reliability, miniaturization, and low cost of electronic products. It is difficult for the traditional non-airtight plastic packaging to satisfy the reliability requirement, but the ceramic Kovar integrated packaging becomes a preferred choice; the excellent air-tightness of the ceramic Kovar integrated packaging guarantees the reliability of the products. The last procedure of this type of packaged products is capping. How to complete the airtight capping with high quality and efficiency is the key to guaranteeing the product reliability. The capping process method of the parallel seam welding has unique technical advantages for implementing the airtight welding between cover plates and pipe shells, has high reliability, is easy to operate, is applicable to a wide range of product sizes, and is widely applied to the ceramic Kovar integrated pipe shell packaging field. The parallel seam welding capping technology in the prior art is primarily to manually cap a single product, has high labor intensity, long working hours and low production efficiency, and its production capacity is difficult to satisfy the increasingly strong market demand; thus, it has become a bottleneck process that restricts the mass application of this type of packaged products. In addition, the prior art further discloses apparatus for exhibiting parallel seam welding; the positioning elements are arranged in the form of an array; and the opening directions of positioning elements adjacent to arbitrary positioning element are different and the positioning elements in each row and each column are all assembled to restrict the movement of the lead 1 shells at two sides in two directions.
This type of packaging only performs rough positioning during the array type parallel seam welding capping and cannot implement reliable clamping, so that the pipe shell has a large amount of movement in two horizontal directions, even in a vertical direction; therefore, the climbing process of an electrode wheel in contact with the shell during capping would push the pipe shell to shift, such that the actual welding path and the set welding path are not completely overlapped, thereby causing serious ignition, ablation of the welding seam and the cover plate and even welding missing, and accordingly, the air tightness and the appearance are seriously affected.
Summary of the Invention In view of the shortcomings of the prior art, the present invention provides an image identification-based automatic parallel sealing welding device and a sealing welding method, aiming to solve the problems of low automation level, low production efficiency, and poor air tightness of products and appearance quality existing in the sealing welding of the prior art.
The technical solution of the present invention for solving the above-mentioned technical problems is as follows: an image identification-based automatic parallel sealing welding device, comprising a bottom plate, and a product tooling positioning mechanism, a spot welding positioning mechanism, a seam welding positioning mechanism, a visual inspection system and a control system for controlling the automatic operation of said device, which are mounted on the bottom plate.
The product tooling positioning mechanism comprises a longitudinal reciprocating mechanism and a rotating mechanism.
The longitudinal reciprocating mechanism is mounted on the bottom plate, and the rotating mechanism is mounted on the longitudinal reciprocating mechanism.
The product tooling is installed on the rotating mechanism, two frame vertical plates arranged in parallel are installed on the bottom plate, the spot welding positioning mechanism and the seam welding positioning mechanism are both installed on the frame vertical plates, spot welding electrode wheels are installed on the spot welding positioning mechanism, seam welding electrode wheels are installed on the seam welding positioning mechanism, and the visual inspection system is installed on the spot welding positioning mechanism.
On the basis of the said technical solution, the present invention would also be improved as 2 follows: Further, the longitudinal reciprocating mechanism comprises a guide rail support installed on the bottom plate, a longitudinal guide rail installed on the guide rail support, a longitudinal slider installed on the longitudinal guide rail, a longitudinal sliding seat installed on the longitudinal slider, a nut holder installed on the bottom surface of the longitudinal sliding seat, a longitudinal screw screwed with the nut holder, a longitudinal motor fixedly installed to one end of the longitudinal screw and a bearing mounting vertical plate rotatably installed to the other end of the longitudinal screw. The longitudinal motor is fixedly installed on the guide rail support, a turntable is rotatably installed on the longitudinal sliding seat by a rotating mechanism, and the product tooling is fixedly installed on the turntable.
Further, the rotating mechanism comprises a rotating motor installed on the longitudinal sliding seat, a motor shaft of the rotating motor and a worm are fixedly installed coaxially, the turntable is fixedly installed with a worm gear coaxially, and the worm gear is installed in cooperation with the worm.
Further, the visual inspection system uses a camera.
Further, the spot welding positioning mechanism comprises a spot welding motor installed on the frame vertical plate, a spot welding screw of which one end is fixedly installed with the spot welding motor and the other end thereof is rotatably installed on the frame vertical plate, a fixed base threaded on the spot welding screw, and a camera and a spot welding lifting mechanism, mounted on the fixed base. At least one spot welding guide rod is further installed on the fixed base, and the two ends of the spot welding guide rod are fixedly installed on the frame vertical plates at two sides. The spot welding lifting mechanism comprises a spot welding lifting motor and a spot welding lifting sliding rail, mounted on the fixed base, a spot welding lifting slider slidably installed on the spot welding lifting sliding rail, a lifting sliding seat fixedly installed on the spot welding lifting slider, a spot welding electrode wheel A and a spot welding electrode wheel B installed on the bottom of the lifting sliding seat, and an automatic pick-up mechanism installed on the lifting sliding seat. The spot welding lifting motor drives the lifting sliding seat to move up and down along the spot welding lifting sliding rail by a screw rod.
Further, the automatic pick-up mechanism comprises a suction cup lifting motor installed on the lifting sliding seat and a vacuum suction cup installed at the bottom of the suction cup 3 lifting motor. The vacuum suction cup is communicated with a vacuum pump through a pneumatic valve, and the vacuum suction cup is located at the bottom of the lifting sliding seat.
Further, the seam welding positioning mechanism comprises a seam welding motor installed on the frame vertical plate, a seam welding screw of which one end is fixedly installed with the seam welding motor and the other end thereof is rotatably installed on the frame vertical plate, a seam welding driving arm A and a seam welding driving arm B, threaded on the seam welding screw, a seam welding electrode wheel A installed on the seam welding driving arm A and a seam welding electrode wheel B installed on the seam welding driving arm B. The seam welding screw comprises two segments of screw, with opposite turning directions, 1e, a A-segment screw and a B-segment screw, respectively. The seam welding driving arm A is threadedly mounted on the A-segment screw, and the seam welding driving arm B is threadedly mounted on the B-segment screw. The seam welding positioning mechanism further comprises a seam welding lifting mechanism that drives the seam welding driving arm A and the seam welding driving arm B to rotate along the seam welding screw.
Further, the seam welding lifting mechanism comprises two seam welding lifting cylinders installed at two ends of the upper surface of the bottom plate, a connecting shaft, a connecting rod, seam welding translation plates and a seam welding guide rod. The end of the cylinder rod of the seam welding lifting cylinder is coaxially installed with the connecting shaft, the other end of the connecting shaft is rotatably installed with one end of the connecting rod, the other end of the connecting rod is rotatably installed with one end of the seam welding translation plate, and the seam welding translation plate is further rotatably installed on the seam welding screw. The seam welding guide rod is fixedly installed between the two seam welding translation plates, and the seam welding guide rod passes through the seam welding driving arm A and the seam welding driving arm B.
The control system is in signal connection with the seam welding lifting cylinders, the spot welding motor, the seam welding motor, the spot welding lifting motor, the camera, the vacuum pump, the longitudinal motor and the rotating motor, and is controlled by a 25KHZ power supply.
A sealing welding method of the image identification-based automatic parallel sealing welding device, comprising the steps of: 4
S1: placing the products: placing several cover plates and pipe shells that need to be welded together in positioning holes of the product tooling, respectively, wherein the reference coordinate data of the positioning holes of the cover plates and the pipe shells are stored in the control system;
S2: identifying and positioning the products: the control system controls the spot welding motor and the longitudinal motor to implement actions, and drives the camera, along with the spot welding screw, to move to positions above the cover plates and the pipe shell in turn, respectively according to the reference coordinate data stored in the control system; and the control system performs data processing after the camera captures it, and obtains the absolute coordinate data of the positions directly above all the cover plates and the pipe shells and stores it;
S3: automatically picking up the products and spot welding: S3-1: according to the obtained absolute coordinate data of the cover plates and the pipe shells, the control system calculates the relative coordinate data of the vacuum suction cup, corresponding to the absolute coordinate data;
the spot welding motor and the longitudinal motor operate simultaneously to drive the vacuum suction cup to move to a position right above the cover plate according to the relative coordinate data; the suction cup lifting motor operates to drive the vacuum suction cup to descend, the vacuum pump operates to suck the cover plate through the vacuum suction cup; the suction cup lifting motor operates to drive the vacuum suction cup to ascend, and then moves the vacuum suction cup to a position right above the pipe shell through the spot welding motor according to the relative coordinate data; the suction cup lifting motor operates to drive the vacuum suction cup to descend to place the cover plate directly above the pipe shell, and at the meantime, the spot welding lifting motor drives the spot welding electrode wheel A and the spot welding electrode wheel B to perform spot welding on the midpoints of the two longitudinal sides of the cover plate; S3-2: repeating step S3-1 until all the cover plates are automatically picked up in turn and placed on the pipe shells to complete the spot welding;
S4: seam welding: the seam welding motor and the seam welding lifting cylinder operate to move the seam welding driving arm A and the seam welding driving arm B to the cover plates that have finished spot welding, to perform seam welding on the two longitudinal sides of each of all cover plates, and the specific operations are: starting from the spot welding position,
5 performing seam welding on one side of the spot welding firstly, and then performing seam welding on the other side of the spot welding; and then, the rotating motor moves the product tooling to rotate 90° along with the turntable, the seam welding motor and the seam welding lifting cylinder operate to move the seam welding driving arm A and the seam welding driving arm B to the cover plates that have finished the seam welding on the two longitudinal sides, to perform seam welding on the other two longitudinal sides of each of all cover plates after rotation, thereby completing the whole sealing welding operation.
Further, the specific method of obtaining the coordinate data in step S2 is as follows: after moving to the product position according to the reference coordinate data, the camera captures, and obtains the coordinate data, 1.e., the absolute coordinate data, of the position directly above the product through black-white light-shade illuminance contrast, black and white contrast, gain adjustment, and comprehensive calculation of brightness.
The beneficial effects of the present invention are: the product tooling positioning mechanism, the spot welding positioning mechanism and the seam welding positioning mechanism are used to facilitate to positioning the product tooling and moving the positions of the spot welding electrode wheels and the seam welding electrode wheels as required; the visual inspection system is arranged and the camera is used to perform image identification, so as to perform sealing welding operation in the processes of spot welding and followed by seam welding, in cooperation with the spot welding electrode wheels and the seam welding electrode wheels, thereby implementing full-automatic sealing welding; not only the welding seam has high accuracy and the air tightness and the appearance quality of the products are guaranteed, but also the sealing welding efficiency is improved; the rotating mechanism is arranged to implement 90°rotation of the product tooling, thereby speeding up the production rhythm and improving the working efficiency; the automatic pick-up mechanism is arranged to implement the suction and release of the cover plate by use of the principle of vacuum adsorption, and the working efficiency is improved; the seam welding positioning mechanism is arranged to implement adjustment of a distance between the seam welding driving arm A and the seam welding driving arm B using opposite rotating directions of screw segments, so as to weld products with different widths, and the application range is wide; 25KHZ power supply is used for precise control, and the input current of the point, the seam welding electrode wheel and the 6 welding motor is controlled during high-speed movement to implement dense or sparse discharge, and the welding quality and the reliability are further improved. Brief Description of Figures FIG. 1 is a front view of the present invention; FIG. 2 is a right side view of the present invention; FIG. 3 is a top view of the present invention, FIG 4 is a schematic block diagram I of the present invention; FIG. 5 is a schematic block diagram II of the present invention; FIG. 6 is an enlarged partial schematic diagram of location A in FIG. 5.
Signs notation in FIGS.: 1. a bottom plate, 2. a bearing mounting vertical plate, 3. a hand wheel, 4. a longitudinal sliding seat, 5. a turntable, 6. a product tooling, 7. a seam welding lifting cylinder, 8. a connecting shaft, 9. a connecting rod, 10. a spot welding motor, 11. a seam welding motor, 12. a frame vertical plate, 13. a spot welding translation plate, 14. a seam welding driving arm A, 15. a seam welding electrode wheel B, 16. a seam welding electrode wheel A, 17. a seam welding driving arm B, 18. a spot welding lifting motor, 19. a lifting sliding seat, 20. a camera,
21. an annular light source, 22. a suction cup lifting motor, 23. a spot welding electrode wheel A,
24. a spot welding electrode wheel B, 25. a vacuum suction cup, 26. a guide rail support, 27. a longitudinal guide rail, 28. a longitudinal slider, 29. a longitudinal motor, 30. a seam welding translation plate, 31. a longitudinal screw, 32. a fixed base, 33. a spot welding screw, 34. a spot welding guide rod, 35. a seam welding screw, 36. a seam welding guide rod, 37. a spot welding lifting sliding rail, 38. a spot welding lifting slider, 39. a rotating motor, 41. a cover plate, 42. a pipe shell.
Detailed Description Hereafter, the principles and features of the present invention will be described with reference to the accompanying drawings, and the exemplary embodiments disclosed in the present invention are only used to explain the present invention, not to limit the scope of the present invention.
7 an image identification-based automatic parallel sealing welding device, comprising a bottom plate 1, and a product tooling positioning mechanism, a spot welding positioning mechanism, a seam welding positioning mechanism, a visual inspection system and a control system for controlling the automatic operation of said device, which are mounted on the bottom plate 1. The product tooling positioning mechanism comprises a longitudinal reciprocating mechanism and a rotating mechanism. The longitudinal reciprocating mechanism is mounted on the bottom plate 1, and the rotating mechanism is mounted on the longitudinal reciprocating mechanism. The product tooling 6 is installed on the rotating mechanism, two frame vertical plates 12 arranged in parallel are installed on the bottom plate 1, the spot welding positioning mechanism and the seam welding positioning mechanism are both installed on the frame vertical plates 12, spot welding electrode wheels are installed on the spot welding positioning mechanism, and seam welding electrode wheels are installed on the seam welding positioning mechanism. The visual inspection system is installed on the spot welding positioning mechanism and uses a camera 20. The product tooling positioning mechanism, the spot welding positioning mechanism and the seam welding positioning mechanism are used to facilitate to positioning the product tooling 6 and moving the positions of the spot welding electrode wheels and the seam welding electrode wheels as required; the visual inspection system is arranged and the camera 20 is used to perform image identification, so as to perform sealing welding operation in the processes of spot welding and followed by seam welding, in cooperation with the spot welding electrode wheels and the seam welding electrode wheels, thereby implementing full-automatic sealing welding; not only the welding seam has high accuracy and the airtightness and the appearance quality of the products are guaranteed, but also the sealing welding efficiency is improved.
The longitudinal reciprocating mechanism comprises a guide rail support 26 installed on the bottom plate 1, a longitudinal guide rail 27 installed on the guide rail support 26, a longitudinal slider 28 installed on the longitudinal guide rail 27, a longitudinal sliding seat 4 installed on the longitudinal slider 28, a nut holder installed on the bottom surface of the longitudinal sliding seat 4, a longitudinal screw 31 threaded with the nut holder, a longitudinal motor 29 fixedly installed to one end of the longitudinal screw 31 and a bearing mounting vertical plate 2 rotatably installed to the other end of the longitudinal screw 31. A hand wheel 3 is installed on the bearing mounting vertical plate 2, the hand wheel 3 and the longitudinal screw 31 are fixedly installed 8 coaxially, so as to rotate the longitudinal screw 31 according to the demands under special circumstances. The longitudinal motor 29 is fixedly installed on the guide rail support 26, a turntable 5 is rotatably installed on the longitudinal sliding seat 4 by a rotating mechanism, and the product tooling 6 is fixedly installed on the turntable. The rotating mechanism comprises a rotating motor 29 installed on the longitudinal sliding seat 4, a motor shaft of the rotating motor 29 and a worm are fixedly installed coaxially, the turntable 5 is fixedly installed with a worm gear coaxially, and the worm gear is installed in cooperation with the worm; and the rotating mechanism is arranged to implement 90°rotation of the product tooling 6, thereby speeding up the production rhythm and improving the working efficiency.
The spot welding positioning mechanism comprises a spot welding motor 10 installed on the frame vertical plate 12, a spot welding screw 33 of which one end is fixedly installed with the spot welding motor 10 and the other end thereof is rotatably installed on the frame vertical plate 12, a fixed base 32 threaded on the spot welding screw 33, and a camera 20 and a spot welding lifting mechanism, mounted on the fixed base 32. An annular light source 21 is further installed under the camera 20, and the central through hole of the annular light source 21 is concentric with the pick-up lens of the camera 20. At least one spot welding guide rod 34 is further installed on the fixed base 32, and the two ends of the spot welding guide rod 34 are fixedly installed on the frame vertical plates 12 at two sides. The spot welding lifting mechanism comprises a spot welding lifting motor 18 and a spot welding lifting sliding rail 37, mounted on the fixed base 32, a spot welding lifting slider 38 slidably installed on the spot welding lifting sliding rail 37, a lifting sliding seat 19 fixedly installed on the spot welding lifting slider 38, a spot welding electrode wheel A23 and a spot welding electrode wheel B24 installed on the bottom of the lifting sliding seat 19, and an automatic pick-up mechanism installed on the lifting sliding seat
19. The spot welding lifting motor 18 drives the lifting sliding seat 19 to move up and down along the spot welding lifting sliding rail 37 by a screw rod. The automatic pick-up mechanism comprises a suction cup lifting motor 22 installed on the lifting sliding seat 19 and a vacuum suction cup 25 installed at the bottom of the suction cup lifting motor 22. The vacuum suction cup 25 is communicated with a vacuum pump through a pneumatic valve, and the vacuum suction cup 25 is located at the bottom of the lifting sliding seat 19; and the automatic pick-up mechanism is arranged to implement the suction and release of the cover plate 41 by use of the 9 principle of vacuum adsorption, and the working efficiency is improved.
The seam welding positioning mechanism comprises a seam welding motor 11 installed on the frame vertical plate 12, a seam welding screw 35 of which one end is fixedly installed with the seam welding motor 11 and the other end thereof is rotatably installed on the frame vertical plate 12, a seam welding driving arm A14 and a seam welding driving arm B17, threaded on the seam welding screw 35, a seam welding electrode wheel A15 installed on the seam welding driving arm A14 and a seam welding electrode wheel B16 installed on the seam welding driving arm B17. The seam welding screw 35 comprises two segments of screw, with opposite turning directions, i.e, a A-segment screw and a B-segment screw, respectively. The seam welding driving arm A14 is threadedly mounted on the A-segment screw, and the seam welding driving arm B17 is threadedly mounted on the B-segment screw. The seam welding positioning mechanism further comprises a seam welding lifting mechanism that drives the seam welding driving arm A14 and the seam welding driving arm B17 to rotate along the seam welding screw
35.
The seam welding lifting mechanism comprises two seam welding lifting cylinders 7 installed at two ends of the upper surface of the bottom plate 1, a connecting shaft 8, a connecting rod 9, seam welding translation plates 30 and a seam welding guide rod 36. The end of the cylinder rod of the seam welding lifting cylinder 7 is coaxially installed with the connecting shaft 8, the other end of the connecting shaft 8 is rotatably installed with one end of the connecting rod 9, the other end of the connecting rod 9 is rotatably installed with one end of the seam welding translation plate 30, and the seam welding translation plate 30 is further rotatably installed on the seam welding screw 35. The seam welding guide rod 36 is fixedly installed between the two seam welding translation plates 30, and the seam welding guide rod 36 passes through the seam welding driving arm A14 and the seam welding driving arm B17. The seam welding positioning mechanism is arranged to implement adjustment of a distance between the seam welding driving arm A14 and the seam welding driving arm B17 using opposite rotating directions of screw segments, so as to weld products with different widths, and the application range is wide.
The control system is in signal connection with the seam welding lifting cylinders 7, the spot welding motor 10, the seam welding motor 11, the spot welding lifting motor 18, the camera 10
20, the vacuum pump, the longitudinal motor 29 and the rotating motor 39, and is controlled by a 25KHZ power supply. 25KHZ power supply is used for precise control, and the input current of the point, the seam welding electrode wheel and the welding motor is controlled during high-speed movement to implement dense or sparse discharge, and the welding quality and the reliability are further improved.
A sealing welding method of the image identification-based automatic parallel sealing welding device, comprising the steps of: S1: placing the products: placing several cover plates 41 and pipe shells 42 that need to be welded together in positioning holes of the product tooling 6, respectively, wherein the reference coordinate data of the positioning holes of the cover plates 41 and the pipe shells 42 are stored in the control system, and the control system may be a computer or an industrial personal computer; S2: identifying and positioning the products: the control system controls the spot welding motor 10 and the longitudinal motor 29 to implement actions, and drives the camera 20, along with the spot welding screw 33, to move to positions above the cover plates 41 and the pipe shells 42 in turn, respectively, according to the reference coordinate data stored in the control system; and the control system performs data processing after the camera 20 captures it, and obtains the absolute coordinate data of the positions directly above all the cover plates 41 and the pipe shells 42 and stores it.
The specific method of obtaining the coordinate data is as follows: after moving to the product position according to the reference coordinate data, the camera 20 captures, and obtains the coordinate data, i.e., the absolute coordinate data, of the position directly above the product through black-white light-shade illuminance contrast, black and white contrast, gain adjustment, and comprehensive calculation of brightness.
S3: automatically picking up the products and spot welding: S3-1: according to the obtained absolute coordinate data of the cover plates 41 and the pipe shells 42, the control system calculates the relative coordinate data of the vacuum suction cup 25, corresponding to the absolute coordinate data; the spot welding motor 10 and the longitudinal motor 29 operate simultaneously to drive the vacuum suction cup 25 to move to a position right above the cover plate 41 according to the relative coordinate data; the suction cup lifting motor 22 operates to drive the vacuum suction cup 25 to descend; the vacuum pump operates to suck the cover plate i
41 through the vacuum suction cup 25; the suction cup lifting motor 22 operates to drive the vacuum suction cup 25 to ascend, and then moves the vacuum suction cup 25 to a position right above the pipe shell 42 through the spot welding motor 10 according to the relative coordinate data; the suction cup lifting motor 22 operates to drive the vacuum suction cup 25 to descend to place the cover plate 41 directly above the pipe shell 42, and at the meantime, the spot welding lifting motor 18 drives the spot welding electrode wheel A23 and the spot welding electrode wheel B24 to perform spot welding on the midpoints of the two longitudinal sides of the cover plate 41; S3-2: repeating step S3-1 until all the cover plates 41 are automatically picked up in turn and placed on the pipe shells 42 to complete the spot welding; S4: seam welding: the seam welding motor 11 and the seam welding lifting cylinder 7 operate to move the seam welding driving arm A14 and the seam welding driving arm B17 to the cover plates 41 that have finished spot welding, to perform seam welding on the two longitudinal sides of each of all cover plates 41, and the specific operations are: starting from the spot welding position, performing seam welding on one side of the spot welding firstly, and then performing seam welding on the other side of the spot welding; and then, the rotating motor 39 moves the product tooling 6 to rotate 90° along with the turntable 5, the seam welding motor 11 and the seam welding lifting cylinder 7 operate to move the seam welding driving arm A14 and the seam welding driving arm B17 to the cover plates 41 that have finished the seam welding on the two longitudinal sides, to perform seam welding on the other two longitudinal sides of each of all cover plates 41 after rotation, thereby completing the whole sealing welding operation.
The foregoing descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention, should be covered by the scope of protection of the present invention.
12

Claims (11)

Conclusies:Conclusions: 1. Een op beeldidentificatie gebaseerde automatische parallelle lasinrichting, bevattende een bodemplaat en een positioneringsmechanisme voor productgereedschap, een positioneringsmechanisme voor puntlassen, een positioneringsmechanisme voor naadlassen, een visueel inspectiesysteem en een controlesysteem voor het regelen van de automatische werking van de lasinrichting, die zijn gemonteerd op de bodemplaat waarbij het positioneringsmechanisme voor het productgereedschap een longitudinaal heen en weer bewegend mechanisme en een rotatiemechanisme bevat, het longitudinale heen en weer bewegende mechanisme is gemonteerd op de bodemplaat, en het rotatiemechanisme is gemonteerd op het longitudinale heen en weer bewegende mechanisme, het productgereedschap is geïnstalleerd op het rotatiemechanisme, twee parallel geplaatste frame verticale platen zijn geïnstalleerd op de bodemplaat, puntlaselektrodewielen zijn geïnstalleerd op het positioneringsmechanisme voor puntlassen, naadlaselektrodewielen zijn geïnstalleerd op het positioneringsmechanisme voor naadlassen en het visuele inspectiesysteem is geïnstalleerd op het positioneringsmechanisme voor puntlassen.1. An image identification-based automatic parallel welding apparatus comprising a base plate and a product tool positioning mechanism, a spot welding positioning mechanism, a seam welding positioning mechanism, a visual inspection system and a control system for controlling the automatic operation of the welding apparatus, which are mounted on the bottom plate wherein the product tool positioning mechanism includes a longitudinal reciprocating mechanism and a rotation mechanism, the longitudinal reciprocating mechanism is mounted on the bottom plate, and the rotation mechanism is mounted on the longitudinal reciprocating mechanism, the product tool is installed on the rotation mechanism, two parallel frame vertical plates are installed on the bottom plate, spot welding electrode wheels are installed on the spot welding positioning mechanism, seam welding electrode wheels n are installed on the seam welding positioning mechanism, and the visual inspection system is installed on the spot welding positioning mechanism. 2. Een op beeldidentificatie gebaseerde automatische parallelle lasinrichting volgens conclusie 1, met het kenmerk, dat het longitudinale heen en weer bewegende mechanisme een geleiderailsteun geïnstalleerd op de bodemplaat bevat, een longitudinale geleiderail is geïnstalleerd op de geleiderailsteun, een longitudinale glijder is geïnstalleerd op de longitudinale geleiderail, een longitudinale schuifstoel is geïnstalleerd op de longitudinale glijder, een moerhouder is geïnstalleerd op het onderoppervlak van de longitudinale schuifzitting, een longitudinale schroef die is geschroefd met de moerhouder, een longitudinale motor vast is geïnstalleerd aan het ene uiteinde van de longitudinale schroef en een verticale montageplaat voor lagers die roteerbaar geïnstalleerd is aan het andere uiteinde van de longitudinale schroef, de longitudinale motor vast geïnstalleerd is op de geleiderailsteun, een draaitafel roteerbaar geïnstalleerd is op de longitudinale schuifstoel door een rotatiemechanisme, en het productgereedschap vast geïnstalleerd is op de draaitafel.An image identification based automatic parallel welding device according to claim 1, characterized in that the longitudinal reciprocating mechanism includes a guide rail support installed on the bottom plate, a longitudinal guide rail is installed on the guide rail support, a longitudinal slider is installed on the longitudinal guide rail, a longitudinal sliding seat is installed on the longitudinal slider, a nut holder is installed on the lower surface of the longitudinal sliding seat, a longitudinal screw that is screwed with the nut holder, a longitudinal motor is fixedly installed at one end of the longitudinal screw and a vertical bearing mounting plate rotatably installed at the other end of the longitudinal screw, the longitudinal motor is fixedly installed on the guide rail support, a turntable is rotatably installed on the longitudinal sliding seat by a rotation mechanism e, and the product tool is permanently installed on the turntable. 3. Een op beeldidentificatie gebaseerde automatische parallelle lasinrichting volgens 13 conclusie 2, met het kenmerk, dat het rotatiemechanisme een roterende motor omvat geinstalleerd op de longitudinale schuifstoel, een motoras van de roterende motor en een worm zijn coaxiaal vast geinstalleerd, de draaitafel is vast geinstalleerd met een wormwiel coaxiaal, en het wormwiel is geinstalleerd voor samenwerking met de worm.An image identification based automatic parallel welding apparatus according to claim 2, characterized in that the rotation mechanism comprises a rotary motor installed on the longitudinal sliding seat, a motor shaft of the rotary motor and a worm are coaxially fixedly installed, the turntable is fixedly installed with a worm gear coaxial, and the worm gear is installed to cooperate with the worm. 4. Een op beeldidentificatie gebaseerde automatische parallelle lasinrichting volgens een der voorgaande conclusies |, met het kenmerk, dat het visueel inspectiesysteem een camera omvat.An image identification based automatic parallel welding device according to any one of the preceding claims, characterized in that the visual inspection system comprises a camera. 5. Een op beeldidentificatie gebaseerde automatische parallelle lasinrichting volgens conclusie 4, met het kenmerk, dat het positioneringsmechanisme voor puntlassen een puntlasmotor die op de verticale plaat van het frame is geïnstalleerd, een puntlasschroef waarvan het ene uiteinde vast is geïnstalleerd met de puntlasmotor en het andere uiteinde ervan roteerbaar is geïnstalleerd op de verticale plaat van het frame, een vaste basis met schroefdraad op de puntlasschroef, en een camera en een hefmechanisme voor puntlassen, gemonteerd op de vaste basis omvat waarbij ten minste één puntlasgeleidingsstang op de vaste basis geïnstalleerd en de twee uiteinden van de puntlasgeleidestang aan twee zijden vast op de verticale platen van het frame zijn geïnstalleerd, waarbij het hefmechanisme voor puntlassen een hefmotor voor puntlassen en een hefschuifrail voor puntlassen, gemonteerd op de vaste basis, een hefschuif voor puntlassen, verschuifbaar geïnstalleerd op de schuifrail voor het puntlassen, een schuifbare hefzitting vast geïnstalleerd op de hefschuif voor puntlassen, een puntlaselektrodewiel A en een puntlaselektrodewiel B geïnstalleerd op de bodem van de liftschuifstoel, en een automatisch oppakmechanisme geïnstalleerd op de liftschuifstoel bevat, waarbij de hefmotor voor puntlassen de hefschuifstoel aandrijft om met een schroefstang op en neer te bewegen langs de hefschuifrail voor puntlassen.An image identification based automatic parallel welding device according to claim 4, characterized in that the spot welding positioning mechanism is a spot welding motor installed on the vertical plate of the frame, a spot welding screw of which one end is fixedly installed with the spot welding motor and the other end thereof is rotatably installed on the vertical plate of the frame, a fixed base with thread on the spot welding screw, and includes a camera and a spot welding lifting mechanism mounted on the fixed base wherein at least one spot welding guide rod is installed on the fixed base and the two ends of the spot welding guide rod are fixedly installed on the vertical plates of the frame on two sides, the spot welding lifting mechanism, a spot welding lifting motor and a spot welding lifting slide rail, mounted on the fixed base, a spot welding lifting slide, slidably installed on the sliding rail for spot welding , a sliding lifting seat fixedly installed on the lifting slide for spot welding, a spot welding electrode wheel A and a spot welding electrode wheel B installed on the bottom of the lifting sliding chair, and including an automatic pick-up mechanism installed on the lifting sliding chair, the spot welding lifting motor driving the lifting sliding chair to rotate with a screw rod on up and down the lift slide rail for spot welding. 6. Een op beeldidentificatie gebaseerde automatische parallelle lasinrichting volgens conclusie 5, met het kenmerk, dat het automatische oppakmechanisme een zuignap-hefmotor geïnstalleerd op de opklapbare schuifstoel en een vacuümzuignap geïnstalleerd aan de onderkant van de zuignap-hefmotor bevat waarbij de vacuümzuignap in verbinding staat met een 14 vacuümpomp via een pneumatisch ventiel en de vacuümzuignap zich aan de onderkant van de opklapbare schuifstoel bevindt.An image identification based automatic parallel welding apparatus according to claim 5, characterized in that the automatic pick-up mechanism includes a suction cup lifting motor installed on the folding sliding seat and a vacuum suction cup installed on the bottom of the suction cup lifting motor wherein the vacuum suction cup is in communication with a 14 vacuum pump through a pneumatic valve and the vacuum suction cup is located on the underside of the folding sliding seat. 7. Een op beeldidentificatie gebaseerde automatische parallelle lasinrichting volgens conclusie 6, met het kenmerk, dat het positioneringsmechanisme voor naadlassen een naadlasmotor die is geïnstalleerd op de verticale plaat van het frame, een naadlasschroef waarvan het ene uiteinde vast is geïnstalleerd met de motor voor het lassen van de naad en het andere uiteinde daarvan roteerbaar is geïnstalleerd op de verticale plaat van het frame, een naadlas aandrijfarm A en een naadlas-aandrijfarm B, met schroefdraad op de naadlasschroef, een naadlaselektrode-wiel A geïnstalleerd op de naadlas-aandrijfarm A en een naadlas-elektrode-wiel B geïnstalleerd op de naadlas-aandrijfarm B bevat waarbij de naadlasschroef twee segmenten schroef bevat, met tegengestelde draairichtingen, dat wil zeggen een A-segment schroef en een B-segment schroef, respectievelijk waarbij de aandrijfarm A voor het lassen van naden met schroefdraad op de schroef van het A-segment gemonteerd is en de aandrijfarm B voor het lassen van de naad met schroefdraad op de schroef van het B-segment gemonteerd is en het positioneringsmechanisme voor naadlassen verder een liftmechanisme voor naadlassen omvat dat de aandrijfarm A voor het laslassen en de aandrijfarm B voor het laslassen aandrijft om langs de lasschroef voor naadlassen te roteren.An image identification based automatic parallel welding device according to claim 6, characterized in that the seam welding positioning mechanism is a seam welding motor installed on the vertical plate of the frame, a seam welding screw whose one end is fixedly installed with the welding motor of the seam and the other end thereof is rotatably installed on the vertical plate of the frame, a seam welding drive arm A and a seam welding drive arm B, threaded on the seam welding screw, a seam welding electrode wheel A installed on the seam welding drive arm A and a seam welding electrode wheel B installed on the seam welding drive arm contains B wherein the seam welding screw includes two segments screw, with opposite directions of rotation, that is, an A segment screw and a B segment screw, respectively, wherein the drive arm A for welding threaded seams on the screw of the A segment and the drive arm B for the threaded seam welding is mounted on the screw of the B segment and the seam welding positioning mechanism further comprises a seam welding lifting mechanism which drives the welding welding drive arm A and the welding welding drive arm B to rotate along the seam welding welding screw . 8. Een op beeldidentificatie gebaseerde automatische parallelle lasinrichting volgens conclusie 7, met het kenmerk, dat het hefmechanisme voor naadlassen twee naadlashefcilinders die aan twee uiteinden van het bovenoppervlak van de bodemplaat zijn geïnstalleerd, een verbindingsas, een verbindingsstang, naadlas-translatieplaten en een naadlasgeleidingsstang omvat, waarbij een uiteinde van de cilinderstang van de naadlashefcilinder coaxiaal geïnstalleerd is met de verbindingsas, het andere uiteinde van de verbindingsas roteerbaar geïnstalleerd is met een uiteinde van de drijfstang, het andere uiteinde van de drijfstang roteerbaar geïnstalleerd met een uiteinde van de naadlastranslatieplaat, en de naadlastranslatieplaat verder roteerbaar geïnstalleerd 1s op de naadlasschroefen, de naadlasgeleidingsstang vast geïnstalleerd tussen de twee naadlastranslatieplaten voor naadlassen en naadlasgeleidingsstang door de aandrijfarm A voor het laslassen en de aandrijfarm B voor het laslassen gaat.An image identification-based automatic parallel welding apparatus according to claim 7, characterized in that the seam welding lifting mechanism comprises two seam welding lifting cylinders installed at two ends of the upper surface of the bottom plate, a connecting shaft, a connecting rod, seam welding translation plates and a seam welding guide rod. wherein one end of the cylinder rod of the seam welding lift cylinder is installed coaxially with the connecting shaft, the other end of the connecting shaft is rotatably installed with one end of the connecting rod, the other end of the connecting rod is rotatably installed with one end of the seam welding translation plate, and the seam welding translation plate further rotatably installed 1s on the seam welding screws, the seam welding guide rod fixedly installed between the two seam welding translation plates for seam welding and seam welding guide rod passes through the drive arm A for welding welding and the drive arm B for welding welding. 1515 9. Een op beeldidentificatie gebaseerde automatische parallelle lasinrichting volgens een der voorgaande conclusies, met het kenmerk, dat het controlesysteem in signaalverbinding met de naadlas-hefcilinders, de puntlasmotor, de naadlasmotor, de puntlas-hijsmotor, de camera, de vacuümpomp, de longitudinale motor en de roterende motor staat en in bedrijf wordt aangestuurd door een 25 KHZ voeding.An image identification based automatic parallel welding device according to any one of the preceding claims, characterized in that the control system is in signal communication with the seam welding lifting cylinders, the spot welding motor, the seam welding motor, the spot welding lifting motor, the camera, the vacuum pump, the longitudinal motor and the rotary motor is running and powered by a 25 KHZ power supply. 10. Een laswerkwijze voor het lassen door middel van het op beeldidentificatie gebaseerde automatische parallelle lasapparaat, bevattende de volgende stappen: S1: plaatsen van de producten: het plaatsen van meerdere aan elkaar te lassen afdekplaten en pijpschalen in respectievelijk positioneringsgaten van de het productgereedschap, waarbij de referentiecoördinaatgegevens van de positioneringsgaten van de dekplaten en de pijpschalen worden opgeslagen in het controle systeem; S2: identificatie en positionering van de producten: het controlesysteem stuurt de puntlasmotor en de longitudinale motor aan om acties uit te voeren, en drijft de camera, samen met de puntlasschroef, aan om op zijn beurt naar posities boven de afdekplaten en de buismantel te bewegen, respectievelijk volgens de referentiecoördinaatgegevens die zijn opgeslagen in het controlesysteem; en het controlesysteem voert gegevensverwerking uit nadat de camera deze heeft vastgelegd, en verkrijgt de absolute coördinaatgegevens van de posities direct boven alle afdekplaten en de pijpschalen en slaat deze op; S3: automatisch oppakken van de producten en puntlassen: S3-1: volgens de verkregen absolute coördinaatgegevens van de afdekplaten en de buismantels berekent het controlesysteem de relatieve coördinaatgegevens van de vacuümzuignap, overeenkomend met de absolute coördinaat gegevens; de puntlasmotor en de longitudinale motor werken gelijktijdig om de vacuümzuignap aan te drijven om naar een positie recht boven de afdekplaat te bewegen volgens de relatieve coordinaatgegevens; de zuignap-hefmotor werkt om de vacuümzuignap naar beneden te drijven; de vacuümpomp zuigt de afdekplaat door de vacuümzuignap; de zuignap-hefmotor werkt om de vacuümzuignap omhoog te drijven, en beweegt vervolgens de vacuümzuignap naar een positie recht boven de pijpmantel door de puntlasmotor volgens de relatieve coördinaatgegevens; de zuignaphefmotor werkt om de vacuümzuignap naar beneden te drijven om de afdekplaat direct boven de 16 buismantel te plaatsen, en ondertussen drijft de puntlas-hefmotor het puntlaselektrodewiel A en het puntlaselektrodewiel B naar puntlassen uitvoeren op de middelpunten van de twee langszijden van de afdekplaat; S3-2: herhalen van stap S3-1 totdat alle afdekplaten automatisch om de beurt worden opgepakt en op de buisschalen worden geplaatst om het puntlassen te voltooien; S4: naadlassen: de naadlasmotor en de naadlashefcilinder dienen om de naadlasaandrijfarm A en de naadlasaandrijfarm B naar de afdekplaten te bewegen die klaar zijn met puntlassen, om naadlassen aan de twee langszijden uit te voeren van elk van alle afdekplaten, en de specifieke bewerkingen zijn: starten vanuit de puntlaspositie, eerst naadlassen aan de ene kant van het puntlassen, en vervolgens naadlassen aan de andere kant van het puntlassen; en vervolgens beweegt de roterende motor het productgereedschap om 90 ° te roteren samen met de draaitafel, de naadlasmotor en de naadlashefcilinder werken om de naadlas aandrijfarm A en de naadlas aandrijfarm B naar de afdekplaten te bewegen die hebben het naadlassen aan de twee langszijden voltooid, om na het roteren naadlassen uit te voeren op de andere twee langszijden van elk van alle afdekplaten, waardoor de hele lasbewerking is voltooid.10. A welding method for welding by the image identification-based automatic parallel welding apparatus, comprising the following steps: S1: placing the products: placing a plurality of cover plates and pipe shells to be welded together in positioning holes of the product tool, respectively, wherein the reference coordinate data of the positioning holes of the cover plates and the pipe shells are stored in the control system; S2: identification and positioning of the products: the control system drives the spot welding motor and the longitudinal motor to perform actions, and drives the camera, together with the spot welding screw, to move in turn to positions above the cover plates and the pipe jacket , respectively according to the reference coordinate data stored in the control system; and the control system performs data processing after the camera captures it, and obtains and stores the absolute coordinate data of the positions immediately above all the cover plates and the pipe shells; S3: Automatically picking up the products and spot welding: S3-1: According to the obtained absolute coordinate data of the cover plates and the pipe jackets, the control system calculates the relative coordinate data of the vacuum suction cup, corresponding to the absolute coordinate data; the spot welding motor and the longitudinal motor operate simultaneously to drive the vacuum suction cup to move to a position right above the cover plate according to the relative coordinate data; the suction cup lifting motor works to drive the vacuum suction cup down; the vacuum pump sucks the cover plate through the vacuum suction cup; the suction cup lifting motor operates to drive the vacuum suction cup upward, and then moves the vacuum suction cup to a position right above the pipe shell by the spot welding motor according to the relative coordinate data; the suction cup lifting motor works to drive the vacuum suction cup down to place the cover plate directly above the 16 pipe shell, and meanwhile, the spot welding lifting motor drives the spot welding electrode wheel A and the spot welding electrode wheel B to perform spot welding on the centers of the two longitudinal sides of the cover plate; S3-2: repeating step S3-1 until all cover plates are automatically picked up in turn and placed on the tube shells to complete the spot welding; S4: Seam welding: The seam welding motor and the seam welding lift cylinder serve to move the seam welding drive arm A and the seam welding drive arm B to the cover plates finished spot welding, to perform seam welding on the two longitudinal sides of each of all cover plates, and the specific operations are: starting from the spot welding position, first seam welding on one side of the spot welding, and then seam welding on the other side of the spot welding; and then the rotary motor moves the product tool to rotate 90° together with the rotary table, the seam welding motor and the seam welding cylinder work to move the seam welding drive arm A and the seam welding drive arm B to the cover plates which have completed the seam welding on the two longitudinal sides, so as to after rotation, perform seam welding on the other two longitudinal sides of each of all faceplates, thereby completing the whole welding operation. 11. Laswerkwijze voor het lassen door middel van het op beeldidentificatie gebaseerde automatische parallelle lasapparaat volgens conclusie 10, met het kenmerk, dat de stap voor het verkrijgen van de coördinaatgegevens in stap S2 het volgende bevat: na het verplaatsen naar de productpositie volgens de referentiecoördinaatgegevens, legt de camera de coördinaatgegevens vast en verkrijgt deze, dat wil zeggen de absolute coördinaatgegevens, van de positie direct boven het product door middel van zwart-wit licht-schaduw verlichtingscontrast, zwart-wit contrast, gain-aanpassing en uitgebreide berekening van de helderheid.The welding method for welding by the image identification-based automatic parallel welding apparatus according to claim 10, characterized in that the step of obtaining the coordinate data in step S2 includes: after moving to the product position according to the reference coordinate data, the camera captures and obtains the coordinate data, that is, the absolute coordinate data, of the position directly above the product by means of black-and-white light-shadow illumination contrast, black-and-white contrast, gain adjustment, and elaborate brightness calculation. 1717
NL2026939A 2020-11-20 2020-11-20 Image identification-based automatic parallel sealing welding device and sealing welding method NL2026939B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117381298A (en) * 2023-12-07 2024-01-12 武汉瑞普汽车部件有限公司 Automatic welding tool for vehicle door assembly

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117381298A (en) * 2023-12-07 2024-01-12 武汉瑞普汽车部件有限公司 Automatic welding tool for vehicle door assembly

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