CN111408858B - Welding machine detection method and system - Google Patents
Welding machine detection method and system Download PDFInfo
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- CN111408858B CN111408858B CN202010163170.7A CN202010163170A CN111408858B CN 111408858 B CN111408858 B CN 111408858B CN 202010163170 A CN202010163170 A CN 202010163170A CN 111408858 B CN111408858 B CN 111408858B
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- 238000003466 welding Methods 0.000 title claims abstract description 797
- 238000001514 detection method Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 claims abstract description 32
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- 230000008878 coupling Effects 0.000 description 1
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- 230000003028 elevating effect Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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Abstract
The embodiment of the application discloses a welding machine detection method and a system, which relate to the field of welding machines, and the method comprises the following steps: adjusting the plurality of welding guns to a first height through the lifting mechanism, and welding a target welding object at the first height through the plurality of welding guns to obtain a plurality of first welding points; adjusting the plurality of welding guns to a second height through the lifting mechanism, and welding the target welding object at the second height through the plurality of welding guns to obtain a plurality of second welding points; acquiring image information of a target welding object through an image acquisition mechanism; and obtaining the distance and the direction from the first welding point to the second welding point corresponding to each welding gun according to the image information, and determining whether the angles of the plurality of welding guns are consistent according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun. By the method, the angle consistency of the welding guns in the welding machine can be accurately and efficiently detected.
Description
Technical Field
The application relates to the field of welding machines, in particular to a welding machine detection method and system.
Background
Welding is one of the most common processing modes in production and processing, and plays an important role in processing products. With the progress of science and technology, the welding machine technology is also continuously developing towards the precision and the high efficiency, for example, the current welding machine is provided with a plurality of welding guns, and the plurality of welding guns need to work simultaneously to carry out welding operation.
However, before the welding operation of such a welding machine, the distance from each welding gun to the welding point and the angle of each welding gun are often required to be adjusted to be consistent, but there is no better detection mode for the debugging result of the welding machine at present, so that the welding quality of the welding machine during welding cannot be guaranteed.
Disclosure of Invention
In view of the above problems, the present application provides a method for detecting a welding machine to solve the above problems.
In a first aspect, an embodiment of the present application provides a welder detection method, where the welder detection method is applied to a welder body, the welder body includes a plurality of welding guns, and the method includes: adjusting the plurality of welding guns to a first height through the lifting mechanism, and welding a target welding object at the first height through the plurality of welding guns to obtain a plurality of first welding points; adjusting the plurality of welding guns to a second height through the lifting mechanism, and welding the target welding object at the second height through the plurality of welding guns to obtain a plurality of second welding points; acquiring image information of a target welding object through an image acquisition mechanism; and obtaining the distance and the direction from the first welding point to the second welding point corresponding to each welding gun according to the image information, and determining whether the angles of the plurality of welding guns are consistent according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun.
Further, determining whether the angles of the plurality of welding guns are consistent according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun comprises the following steps: and when the distances from the first welding point to the second welding point corresponding to each welding gun in the plurality of welding guns are equal and the directions from the first welding point to the second welding point corresponding to each welding gun in the plurality of welding guns point to the same point, determining that the angles of the plurality of welding guns are consistent.
Further, the shape of the target welding object is circular, and whether the angles of the plurality of welding guns are consistent or not is determined according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun, including: and when the plurality of first welding points are all positioned at the edge of the target welding object and the plurality of second welding points are all positioned at the center of the target welding object, determining that the angles of the plurality of welding guns are consistent.
Further, the image information of the target welding object is collected by an image collecting mechanism, which comprises: obtaining the distance from each second welding point in the plurality of second welding points to the center of the target welding object; and when the distance from any one of the second welding points to the center of the target welding object is less than or equal to the distance threshold value, acquiring the image information of the target welding object by the image acquisition mechanism.
Further, the number of the welding guns is three, and the three welding guns are symmetrical about the center of the target welding object.
Further, determining whether the angles of the plurality of welding guns are consistent according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun comprises the following steps: when the direction from the first welding point to the second welding point corresponding to each welding gun points to the center of the target welding object and the plurality of first welding points are located at the edge of the target welding object, obtaining the distance from each second welding point in the plurality of second welding points to the center of the target welding object to obtain a plurality of first distances; when each of the plurality of first distances is equal, determining that the angles of the plurality of welding guns are consistent.
Further, determining whether the angles of the plurality of welding guns are consistent according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun comprises the following steps: when the direction from the first welding point to the second welding point corresponding to each welding gun points to the center of the target welding object and the plurality of second welding points are all located at the center of the target welding object, obtaining the closest distance from each first welding point in the plurality of first welding points to the edge of the target welding object to obtain a plurality of second distances; when each of the plurality of second distances is equal, determining that the angles of the plurality of welding guns are consistent.
Further, after obtaining the distance and the direction from the first welding point to the second welding point corresponding to each welding gun according to the image information and determining whether the angles of the plurality of welding guns are consistent according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun, the method further includes: when the angles of the welding guns are determined to be inconsistent, determining a first target welding gun from the welding guns, wherein the distance from the corresponding first welding point to the second welding point of the first target welding gun is different from the distance from the corresponding first welding point to the second welding point of other welding guns in the welding guns; the pitch angle of the first target torch is adjusted.
Further, after obtaining the distance and the direction from the first welding point to the second welding point corresponding to each welding gun according to the image information and determining whether the angles of the plurality of welding guns are consistent according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun, the method further includes: when the angles of the plurality of welding guns are determined to be inconsistent, a second target welding gun is determined from the plurality of welding guns, and the direction from the first welding point to the second welding point corresponding to the second target welding gun does not point to the intersection point pointed by the directions from the first welding point to the second welding point corresponding to other welding guns in the plurality of welding guns; and adjusting the horizontal angle of the second target welding gun.
In a second aspect, an embodiment of the present application provides a welder detection system, where the welder detection system is applied to a welder body, the welder body includes a plurality of welding guns, and the welder detection system includes: elevating system, image acquisition mechanism and treater. The lifting mechanism is used for adjusting the plurality of welding guns to a first height, and welding a target welding object at the first height through the plurality of welding guns to obtain a plurality of first welding points; adjusting the plurality of welding guns to a second height, and welding the target welding object at the second height through the plurality of welding guns to obtain a plurality of second welding points; the image acquisition mechanism is used for acquiring image information of a target welding object; and the processor is used for acquiring the distance and the direction from the first welding point to the second welding point corresponding to each welding gun according to the image information, and determining whether the angles of the plurality of welding guns are consistent according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun.
According to the welding machine detection method and the welding machine detection system, the plurality of welding guns are all adjusted to the first height through the lifting mechanism, and the target welding object is welded at the first height through the plurality of welding guns to obtain the plurality of first welding points. Secondly, all adjusting the plurality of welding guns to a second height through the lifting mechanism, welding the target welding object at the second height through the plurality of welding guns to obtain a plurality of second welding points, and then collecting image information of the target welding object through the image collecting mechanism. And finally, acquiring the distance and the direction from the first welding point to the second welding point corresponding to each welding gun according to the image information, and determining whether the angles of the plurality of welding guns are consistent according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun. If the pitch angles of a plurality of welding guns in the welding machine are consistent, when the plurality of welding guns are simultaneously raised by the same distance, the distances from the welding point formed by each welding gun on the target object to the welding point of each welding gun are also the same, so that whether the pitch angles corresponding to each welding gun are consistent or not can be quickly and accurately judged by judging whether the distances from the first welding point corresponding to each welding gun to the second welding point are consistent or not. In addition, since the direction of the welding guns forming the plurality of welding points on the target object is related to the horizontal angle of the welding guns, whether the horizontal angle corresponding to each welding gun is consistent or not can be quickly and accurately judged by judging the direction from the first welding point to the second welding point corresponding to each welding gun. Therefore, the angle debugging result of the welding gun in the butt welding machine can be well detected.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 shows a schematic structural diagram of a welder body provided according to an embodiment of the application.
FIG. 2 shows a flow diagram of a method for debugging a welder provided according to an embodiment of the present application.
Fig. 3 shows a schematic diagram of image information of a target welding object according to an embodiment of the application.
FIG. 4 illustrates a weld diagram provided in accordance with one embodiment of the present application.
FIG. 5 illustrates a weld diagram provided in accordance with another embodiment of the present application.
FIG. 6 illustrates a weld diagram provided in accordance with yet another embodiment of the present application.
FIG. 7 illustrates a weld diagram provided in accordance with yet another embodiment of the present application.
FIG. 8 shows a flowchart of a method for debugging a welder provided according to another embodiment of the present application.
FIG. 9 illustrates a flow diagram of a method for debugging a welder provided in accordance with yet another embodiment of the present application.
FIG. 10 illustrates a schematic of a weld distribution provided in accordance with one embodiment of the present application.
FIG. 11 illustrates a schematic view of a weld distribution provided in accordance with another embodiment of the present application.
FIG. 12 illustrates a schematic view of a weld distribution provided in accordance with yet another embodiment of the present application.
FIG. 13 illustrates a flow diagram of a method for debugging a welder provided in accordance with yet another embodiment of the present application.
FIG. 14 illustrates a flow diagram of a method for debugging a welder provided in accordance with yet another embodiment of the present application.
FIG. 15 shows a block diagram of a welder debugging system provided according to an embodiment of the application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it is noted that the terms "first", "second", "third", and the like are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For the laser coupling welding technology, the quality of a product and the debugging result of a welding machine have a close and inseparable relation, so the debugging result of butt welding machine equipment directly determines the quality of the processed product.
In debugging of a plurality of welding parameters, whether the distances from the laser light sources of a plurality of welding guns in the welding machine to the target welding point are consistent is particularly critical. However, at present, most of the welders are debugged by depending on the experience of operators, so that the debugging is inaccurate due to human errors and insufficient experience, and the welding quality of processed products cannot be guaranteed.
The inventor finds that after the welding machine is debugged, a circular welding prosthesis can be fixed on a welding table of the welding machine, the edge of the circular welding prosthesis is welded from multiple directions by using multiple welding guns of the welding machine, and then whether a penetration peak of a welding point formed on the edge of the circular welding prosthesis points to the center of the circular welding prosthesis is observed by using a microscope, if yes, the angles of the multiple welding machines are consistent, and if not, the angles of the multiple welding machines are inconsistent. Therefore, the angle consistency of a plurality of welding guns can be effectively detected.
However, the inventors found in their research that the method of observing whether the melting depth peak of the formed welding point of the edge of the circular welded prosthesis points to the center of the circular welded prosthesis by a microscope cannot obtain the detection result very intuitively, and is very troublesome to operate, resulting in low detection efficiency and low detection accuracy.
Therefore, in view of the above problems, the inventor proposes a method and a system for detecting a welding machine in the embodiments of the present application, which can effectively improve the efficiency and accuracy of detecting the angle consistency of a plurality of welding guns.
The welder detection method provided by the embodiment of the application can be applied to the welder body 100 shown in fig. 1, where the welder body 100 includes a plurality of welding guns 120, a lifting mechanism 110 connected to the plurality of welding guns 120, and an image acquisition mechanism 130.
The lifting mechanism 110 may include a plurality of lifter units, the lifter units correspond to the welding guns 120 one by one, and each lifter unit is connected to one welding gun 120 to adjust the height position of the welding gun 120 corresponding to the lifter unit.
The image capturing mechanism 130 may be disposed on the welding gun 120, or may be disposed on the welding machine, and is located right above a center of the welding platform, where the center of the welding platform may be used to fix a target object to be welded, such as a welding part, a welding dummy part, and the like. Alternatively, the image capturing mechanism 130 may be a high definition camera, a digital camera, or the like.
Referring to fig. 2, fig. 2 illustrates a method for debugging a welding machine according to an embodiment of the present application, where the method may include:
and S110, adjusting the plurality of welding guns to a first height through the lifting mechanism, and welding the target welding object at the first height through the plurality of welding guns to obtain a plurality of first welding points.
As an example, the number of the welding guns is two, the target welding object is a square welding dummy, the two welding guns may weld from the edge of the target welding object, and the welding direction may be such that the two welding guns weld toward the center of the target welding object along the diagonal line of the target welding object. Specifically, when the two welding guns are adjusted to the first height by the lifting mechanism, the two welding guns can just weld two end points of the target welding object which are symmetrical about the center, so that two first welding points can be formed on the two end points of the target welding object.
Wherein, the lifting mechanism may be a hydraulic lifting mechanism, an electric lifting mechanism, etc., optionally, and is not limited herein.
And S120, adjusting the plurality of welding guns to a second height through the lifting mechanism, and welding the target welding object at the second height through the plurality of welding guns to obtain a plurality of second welding points.
As an example, when the two torches are simultaneously raised by the lifting mechanism from the first height to the second height, and then the target welding object is welded by the two torches at the second height so that two second welding points may be formed on the target welding object, for example, the two second welding points may be closer to the target welding center since the two torches are raised in height and the pitch angle is not changed.
And S130, acquiring image information of the target welding object through an image acquisition mechanism.
Alternatively, the image capturing mechanism may be disposed directly above the target welding object, and when the second welding point is formed on the target welding object, the image capturing mechanism may take a picture of the target welding object by taking a picture, and use the taken picture of the target welding object as the image information.
S140, the distance and the direction from the first welding point to the second welding point corresponding to each welding gun are obtained according to the image information, and whether the angles of the plurality of welding guns are consistent or not is determined according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun.
As an example, as shown in fig. 3 and 4, the two welding torches may be a first welding torch 121 and a second welding torch 122, the first welding torch 121 forms a first welding point a1 corresponding to a first height and a second welding point a2 corresponding to a second height on the target welding object 1, and the second welding torch 122 forms a first welding point b1 corresponding to the first height and a second welding point b2 corresponding to the second height on the target welding object 1.
As shown in fig. 4, when the pitch angles of the first and second torches 121 and 122 are the same, if the first and second torches 121 and 122 are lifted the same distance, the distance from the first welding point a1 of the first torch 121 to the second welding point a2 of the first torch 121 on the target welding object 1 may be equal to the distance from the first welding point b1 of the second torch 122 to the second welding point b2 of the second torch 122.
As shown in fig. 5, when the pitch angles of the first welding torch 121 and the second welding torch 122 are not the same, if the first welding torch 121 and the second welding torch 122 are raised by the same distance, the distance from the first welding point a1 of the first welding torch 121 to the second welding point a2 of the first welding torch 121 on the target welding object 1 may not be equal to the distance from the first welding point b1 of the second welding torch 122 to the second welding point b2 of the second welding torch 122.
As shown in fig. 6, when the horizontal angles of the first welding torch 121 and the second welding torch 122 are the same, if the first welding torch 121 and the second welding torch 122 are raised by the same distance, the direction of the first welding point a1 of the first welding torch 121 to the second welding point a2 of the first welding torch 121 coincides with the direction of the first welding point b1 of the second welding torch 122 to the second welding point b2 of the second welding torch 122 on the target welding object 1, i.e., while being directed toward the center a of the target welding object 1.
As shown in fig. 7, when the horizontal angles of the first welding torch 121 and the second welding torch 122 are not the same, if the first welding torch 121 and the second welding torch 122 are raised by the same distance, the direction from the first welding point a1 of the first welding torch 121 to the second welding point a2 of the first welding torch 121 coincides with the direction from the first welding point b1 of the second welding torch 122 to the second welding point b2 of the second welding torch 122 on the target welding object 1, i.e., not toward the center a of the target welding object 1 at the same time.
By analogy, whether the angles of the welding guns are consistent or not can be determined according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun, wherein the angles of the welding guns comprise a pitch angle and a horizontal angle, and when the pitch angles of the welding guns are consistent and the horizontal angle is consistent, the angles of the welding guns can be determined to be consistent.
In this embodiment, the plurality of welding guns are all adjusted to the first height by the lifting mechanism, and the target welding object is welded at the first height by the plurality of welding guns, so that a plurality of first welding points are obtained. Secondly, all adjusting the plurality of welding guns to a second height through the lifting mechanism, welding the target welding object at the second height through the plurality of welding guns to obtain a plurality of second welding points, and then collecting image information of the target welding object through the image collecting mechanism. And finally, acquiring the distance and the direction from the first welding point to the second welding point corresponding to each welding gun according to the image information, and determining whether the angles of the plurality of welding guns are consistent according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun. If the pitch angles of a plurality of welding guns in the welding machine are consistent, when the plurality of welding guns are simultaneously raised by the same distance, the distances from the welding point formed by each welding gun on the target object to the welding point of each welding gun are also the same, so that whether the pitch angles corresponding to each welding gun are consistent or not can be quickly and accurately judged by judging whether the distances from the first welding point corresponding to each welding gun to the second welding point are consistent or not. In addition, since the direction of the welding guns forming the plurality of welding points on the target object is related to the horizontal angle of the welding guns, whether the horizontal angle corresponding to each welding gun is consistent or not can be quickly and accurately judged by judging the direction from the first welding point to the second welding point corresponding to each welding gun. Therefore, the angle debugging result of the welding gun in the butt welding machine can be well detected.
Referring to fig. 8, fig. 8 illustrates a method for debugging a welding machine according to another embodiment of the present application, where the method may include:
s210, adjusting the plurality of welding guns to a first height through the lifting mechanism, and welding the target welding object at the first height through the plurality of welding guns to obtain a plurality of first welding points.
And S220, adjusting the plurality of welding guns to a second height through the lifting mechanism, and welding the target welding object at the second height through the plurality of welding guns to obtain a plurality of second welding points.
And S230, acquiring image information of the target welding object through an image acquisition mechanism.
The specific implementation of S210 to S230 can refer to S110 to S130, and therefore is not described herein.
S240, the distance and the direction from the first welding point to the second welding point corresponding to each welding gun are obtained according to the image information, and when the distances from the first welding point to the second welding point corresponding to each welding gun in the plurality of welding guns are equal and the directions from the first welding point to the second welding point corresponding to each welding gun in the plurality of welding guns point to the same point, the angles of the plurality of welding guns are determined to be consistent.
Since the pitch angles of each of the plurality of torches may be determined to be the same when the distances from the first welding point to the second welding point of each of the plurality of torches are equal. When the directions from the first welding point to the second welding point corresponding to each of the plurality of welding guns point to the same point, the horizontal angle of each of the plurality of welding guns can be determined to be consistent, that is, the plurality of welding guns can simultaneously weld a common position point. In this embodiment, when the distances from the first welding point to the second welding point corresponding to each of the plurality of welding guns are equal and the directions from the first welding point to the second welding point corresponding to each of the plurality of welding guns point to the same point, it is determined that the angles of the plurality of welding guns are the same, and it is possible to accurately and effectively determine whether the angles of the plurality of welding guns are the same.
Referring to fig. 9, fig. 9 illustrates a method for debugging a welding machine according to an embodiment of the present application, where the method may include:
s310, adjusting the plurality of welding guns to a first height through the lifting mechanism, and welding a target welding object at the first height through the plurality of welding guns to obtain a plurality of first welding points, wherein the target welding object is circular in shape.
And S320, adjusting the plurality of welding guns to a second height through the lifting mechanism, and welding the target welding object at the second height through the plurality of welding guns to obtain a plurality of second welding points.
The specific implementation of S310 to S320 may refer to S110 to S120, and therefore, is not described herein.
And S330, acquiring image information of the target welding object through an image acquisition mechanism.
In some embodiments, an implementation of S330 may be that a distance from each of the plurality of second welding points to a center of the target welding object is acquired.
As one mode, when the plurality of welding machines form the second welding point on the target welding object, the image capturing mechanism may capture an image of a portion of the target welding object including the center of the target welding object and the plurality of second welding points, and then transmit the captured image to the server, perform image analysis, and calculate the distance from each second welding point to the center of the target welding object by the server.
And when the distance from any one of the second welding points to the center of the target welding object is less than or equal to the distance threshold value, acquiring the image information of the target welding object by the image acquisition mechanism.
If the distance from any one of the second welding points to the center of the target welding object is smaller than or equal to the distance threshold, it indicates that the second welding point is very close to the center of the target welding object or is already at the center of the target welding object, and if the height is continuously raised by a plurality of welding machines for welding, the next welded welding point may appear on the other side of the center of the target welding object, so that the next welded welding point is overlapped with the other welding machines to leave the welding point on the target welding object before, and the image acquisition mechanism acquires the image information of the target welding object and is unusable.
In this embodiment, when the distance from any one of the second welding points to the center of the target welding object is less than or equal to the distance threshold, the image acquisition mechanism acquires the image information of the target welding object, so that the situation that the image acquisition mechanism cannot use the image information of the target welding object can be effectively avoided.
And S340, acquiring the distance and the direction from the first welding point to the second welding point corresponding to each welding gun according to the image information, and determining that the angles of the welding guns are consistent when the first welding points are all positioned at the edge of the target welding object and the second welding points are all positioned at the center of the target welding object.
In some embodiments, in S340, when the directions from the first welding point to the second welding point corresponding to each welding gun point to the center of the target welding object, and the plurality of first welding points are located at the edge of the target welding object, the distance from each of the plurality of second welding points to the center of the target welding object is obtained, so as to obtain a plurality of first distances. When each of the plurality of first distances is equal, determining that the angles of the plurality of welding guns are consistent.
Optionally, the number of torches is three, wherein the three torches are symmetrical about the center of the target welding object.
As an example, as shown in fig. 10, taking a circular target object 1 as an example, since the direction from the first welding point to the second welding point of each welding gun points to the center of the target welding object, and the first welding points are located at the edge of the target welding object, the distance from the second welding point to the corresponding first welding point is equal to the radius of the target object 1 minus the distance from the second welding point to the center of the target welding object, when the distances from each second welding point of the second welding points to the center of the target welding object, that is, the first distances are equal, it may be determined that the distance from a1 to a2, the distance from b1 to b2, and the distance from c1 to c2 in fig. 10 are also equal, and it may be determined that the angles of the welding guns are identical. Thereby the angle consistency of a plurality of welding guns is more convenient to judge.
In other embodiments, in S340, when the direction from the first welding point to the second welding point corresponding to each welding gun points to the center a of the target welding object, and the plurality of second welding points are located at the center of the target welding object, the closest distance from each first welding point of the plurality of first welding points to the edge of the target welding object is obtained, so as to obtain a plurality of second distances. When each of the plurality of second distances is equal, determining that the angles of the plurality of welding guns are consistent.
As an example, as shown in fig. 11, taking a circular target object as an example, taking a circular target object 1 as an example, since when the direction from the first welding point to the second welding point corresponding to each welding gun points to the center of the target welding object and the plurality of second welding points are located at the center of the target welding object, the distance from the second welding point to the corresponding first welding point is equal to the radius of the target object 1 minus the closest distance from the first welding point to the edge of the target welding object 1, when the closest distances from each first welding point to the edge of the target welding object 1 in the plurality of second welding points, that is, the plurality of second distances, are equal, it may also be determined that the distance from a1 to a2, the distance from b1 to b2, and the distance from c1 to c2 in fig. 11 are equal, and it may be determined that the angles of the plurality of welding guns are consistent. Thereby the angle consistency of a plurality of welding guns is more convenient to judge.
In some embodiments, as shown in fig. 12, a plurality of welding points may be welded by the welding torch between the corresponding first welding point and the second welding point, so that a plurality of welding lines are welded on the target welding object, and the plurality of welding lines correspond to the plurality of welding torches one to one. The length of the welding line can indicate the distance from the first welding point to the second welding point, and the direction of the welding line can indicate the direction from the first welding point to the second welding point, so that whether the angles of a plurality of welding guns are consistent or not can be judged more intuitively and conveniently.
Referring to fig. 13, fig. 13 illustrates a method for debugging a welding machine according to an embodiment of the present application, where the method may include:
s410, adjusting the plurality of welding guns to a first height through the lifting mechanism, and welding the target welding object at the first height through the plurality of welding guns to obtain a plurality of first welding points.
And S420, adjusting the plurality of welding guns to a second height through the lifting mechanism, and welding the target welding object at the second height through the plurality of welding guns to obtain a plurality of second welding points.
And S430, acquiring image information of the target welding object through an image acquisition mechanism.
S440, the distance and the direction from the first welding point to the second welding point corresponding to each welding gun are obtained according to the image information, and whether the angles of the plurality of welding guns are consistent or not is determined according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun.
The specific implementation of S410 to S440 can refer to S110 to S140, and therefore is not described herein.
S450, when the angles of the welding guns are determined to be inconsistent, determining a first target welding gun from the welding guns, wherein the distance from a first welding point corresponding to the first target welding gun to a second welding point is different from the distance from the first welding point corresponding to other welding guns in the welding guns to the second welding point;
and S460, adjusting the pitch angle of the first target welding gun.
In this embodiment, the pitch angle of the first target welding gun can be quickly and accurately determined to be compared with other welding guns to be abnormal by determining that the distance from the first welding point corresponding to the first target welding gun to the second welding point is different from the distance from the first welding point corresponding to other welding guns in the plurality of welding guns, so that the pitch angle of the first target welding gun can be conveniently adjusted.
Referring to fig. 14, fig. 14 illustrates a method for debugging a welding machine according to an embodiment of the present application, where the method may include:
and S510, adjusting the plurality of welding guns to a first height through the lifting mechanism, and welding the target welding object at the first height through the plurality of welding guns to obtain a plurality of first welding points.
And S520, adjusting the plurality of welding guns to a second height through the lifting mechanism, and welding the target welding object at the second height through the plurality of welding guns to obtain a plurality of second welding points.
And S530, acquiring image information of the target welding object through an image acquisition mechanism.
S540, the distance and the direction from the first welding point to the second welding point corresponding to each welding gun are obtained according to the image information, and whether the angles of the plurality of welding guns are consistent or not is determined according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun.
The embodiments of S510 to S540 can refer to S110 to S140, and are not described herein.
And S550, when the angles of the plurality of welding guns are determined to be inconsistent, determining a second target welding gun from the plurality of welding guns, wherein the direction from the first welding point to the second welding point corresponding to the second target welding gun does not point to the intersection point pointed by the directions from the first welding point to the second welding point corresponding to other welding guns in the plurality of welding guns.
And S560, adjusting the horizontal angle of the second target welding gun.
In this embodiment, the horizontal angle of the second target welding gun may be determined to be abnormal compared with other welding guns quickly and accurately by the intersection point where the direction from the first welding point to the second welding point corresponding to the second target welding gun does not point to the direction from the first welding point to the second welding point corresponding to other welding guns in the plurality of welding guns, so that the horizontal angle of the second target welding gun may be adjusted conveniently.
Referring to fig. 15, fig. 15 shows a welder debugging system provided by an embodiment of the present application, where the system 300 is applied to a welder body, the welder body includes a plurality of welding guns, and the welder detection system 300 includes: a lifting mechanism 330, an image acquisition mechanism 310, and a processor 320. The processor 320 may be connected to the lifting mechanism 330 and the image capturing mechanism 310, respectively, where the lifting mechanism 330 is configured to adjust all of the welding guns to a first height, and weld the target welding object at the first height through the welding guns to obtain a plurality of first welding points; and adjusting the plurality of welding guns to the second height, and welding the target welding object at the second height through the plurality of welding guns to obtain a plurality of second welding points. The image acquisition mechanism 310 is used to acquire image information of the target welding object. The processor 320 is configured to obtain a distance and a direction from the first welding point to the second welding point corresponding to each welding gun according to the image information, and determine whether angles of the plurality of welding guns are consistent according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun.
In summary, according to the welding machine detection method provided by the embodiment of the present application, if the pitch angles of the multiple welding guns in the welding machine are consistent, when the multiple welding guns are simultaneously raised by the same distance, the distance from the welding point formed by each welding gun on the target object to the previous welding point is also the same, so that whether the pitch angle corresponding to each welding gun is consistent or not can be quickly and accurately determined by determining whether the distance from the first welding point corresponding to each welding gun to the second welding point is consistent or not. In addition, since the direction of the welding guns forming the plurality of welding points on the target object is related to the horizontal angle of the welding guns, whether the horizontal angle corresponding to each welding gun is consistent or not can be quickly and accurately judged by judging the direction from the first welding point to the second welding point corresponding to each welding gun. Therefore, the angle debugging result of the welding gun in the butt welding machine can be well detected.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A welding machine detection method is characterized by being applied to a welding machine body, wherein the welding machine body comprises a plurality of welding guns, a lifting mechanism connected with the welding guns and an image acquisition mechanism, and the method comprises the following steps:
adjusting the plurality of welding guns to a first height through the lifting mechanism, and welding a target welding object at the first height through the plurality of welding guns to obtain a plurality of first welding points;
adjusting the plurality of welding guns to a second height through the lifting mechanism, and welding the target welding object at the second height through the plurality of welding guns to obtain a plurality of second welding points;
acquiring image information of the target welding object through the image acquisition mechanism;
and acquiring the distance and the direction from the first welding point to the second welding point corresponding to each welding gun according to the image information, and determining whether the angles of the plurality of welding guns are consistent according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun.
2. The welder inspection method of claim 1, wherein the determining whether the angles of the plurality of torches are consistent based on the distance and direction from the first weld point to the second weld point for each torch comprises:
and when the distances from the first welding point to the second welding point corresponding to each welding gun in the plurality of welding guns are equal and the directions from the first welding point to the second welding point corresponding to each welding gun in the plurality of welding guns point to the same point, determining that the angles of the plurality of welding guns are consistent.
3. The welding machine detection method according to claim 1, wherein the target welding object is in a circular shape, and the determining whether the angles of the plurality of welding guns are consistent according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun comprises:
determining that the angles of the plurality of welding guns are consistent when the plurality of first welding points are all located at the edge of the target welding object and the plurality of second welding points are all located at the center of the target welding object.
4. The welder detection method of claim 3, characterized in that the capturing of image information of the target welding object by the image capturing mechanism comprises:
obtaining a distance from each of the plurality of second welding points to a center of the target welding object;
when the distance from any one of the second welding points to the center of the target welding object is smaller than or equal to a distance threshold value, acquiring image information of the target welding object through the image acquisition mechanism.
5. The welder detecting method according to claim 3, characterized in that the number of the welding guns is three, and the three welding guns are symmetrical about the center of the target welding object.
6. The welder inspection method of claim 3, wherein the determining whether the angles of the plurality of torches are consistent based on the distance and direction from the first weld point to the second weld point for each torch comprises:
when the direction from the first welding point to the second welding point corresponding to each welding gun points to the center of the target welding object and the plurality of first welding points are located at the edge of the target welding object, obtaining the distance from each second welding point of the plurality of second welding points to the center of the target welding object to obtain a plurality of first distances;
determining that the angles of the plurality of welding guns are consistent when each of the plurality of first distances are equal.
7. The welder inspection method of claim 3, wherein the determining whether the angles of the plurality of torches are consistent based on the distance and direction from the first weld point to the second weld point for each torch comprises:
when the direction from the first welding point to the second welding point corresponding to each welding gun points to the center of the target welding object and the plurality of second welding points are all located at the center of the target welding object, obtaining the closest distance from each first welding point in the plurality of first welding points to the edge of the target welding object to obtain a plurality of second distances;
determining that the angles of the plurality of welding guns are consistent when each of the plurality of second distances are equal.
8. The welder inspection method according to any of the claims 1-7, characterized in that after the obtaining the distance and direction from the first welding point to the second welding point corresponding to each welding gun according to the image information and determining whether the angles of the plurality of welding guns are consistent according to the distance and direction from the first welding point to the second welding point corresponding to each welding gun, the welder inspection method further comprises:
when the angles of the plurality of welding guns are determined to be inconsistent, determining a first target welding gun from the plurality of welding guns, wherein the distance from the corresponding first welding point to the second welding point of the first target welding gun is different from the distance from the corresponding first welding point to the second welding point of other welding guns in the plurality of welding guns;
adjusting a pitch angle of the first target torch.
9. The welder inspection method according to any of the claims 1-7, characterized in that after the obtaining the distance and direction from the first welding point to the second welding point corresponding to each welding gun according to the image information and determining whether the angles of the plurality of welding guns are consistent according to the distance and direction from the first welding point to the second welding point corresponding to each welding gun, the welder inspection method further comprises:
when the angles of the welding guns are determined to be inconsistent, determining a second target welding gun from the welding guns, wherein the direction from the first welding point to the second welding point corresponding to the second target welding gun does not point to the intersection point pointed by the directions from the first welding point to the second welding point corresponding to other welding guns in the welding guns;
and adjusting the horizontal angle of the second target welding gun.
10. A welding machine detection system applied to a welding machine body, wherein the welding machine body comprises a plurality of welding guns, and the welding machine detection system comprises:
the lifting mechanism is used for adjusting the plurality of welding guns to a first height, and welding a target welding object at the first height through the plurality of welding guns to obtain a plurality of first welding points; adjusting the plurality of welding guns to a second height, and welding the target welding object at the second height through the plurality of welding guns to obtain a plurality of second welding points;
the image acquisition mechanism is used for acquiring image information of the target welding object; and
and the processor is used for acquiring the distance and the direction from the first welding point to the second welding point corresponding to each welding gun according to the image information, and determining whether the angles of the plurality of welding guns are consistent according to the distance and the direction from the first welding point to the second welding point corresponding to each welding gun.
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| DE102006004919A1 (en) * | 2006-02-01 | 2007-08-16 | Thyssenkrupp Steel Ag | Laser beam welding head |
| CN202726274U (en) * | 2012-08-07 | 2013-02-13 | 湖南湘投金天新材料有限公司 | Welding gun adjusting device for welding pipe production line |
| CN104308347A (en) * | 2014-10-10 | 2015-01-28 | 哈尔滨工业大学 | Device for measuring and feeding back spatial attitude of welding gun relative to welding seam |
| CN207289177U (en) * | 2017-04-23 | 2018-05-01 | 深圳市兴启航自动化设备有限公司 | Weldering becomes the automatic Repair Welding Machine of the accurate single beam in position |
| CN107649773A (en) * | 2017-10-31 | 2018-02-02 | 中车四方车辆有限公司 | A kind of resistance spot welding positioner and localization method |
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