CN113182738A - Welding spot positioning system and method - Google Patents
Welding spot positioning system and method Download PDFInfo
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- CN113182738A CN113182738A CN202110504161.4A CN202110504161A CN113182738A CN 113182738 A CN113182738 A CN 113182738A CN 202110504161 A CN202110504161 A CN 202110504161A CN 113182738 A CN113182738 A CN 113182738A
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
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Abstract
The embodiment of the invention discloses a welding spot positioning system and a welding spot positioning method. Wherein, solder joint positioning system includes: the welding device comprises a state recognition device, a positioning application program and a welding spot identification device, wherein the state recognition device is arranged on characteristic points on the outer surface of the welding part; the state identification device is used for identifying the position information and the angle information of the welding part and sending the position information and the angle information to the positioning application program; the positioning application program is used for determining the motion information of the welding spot identification device according to the welding area selected by the user in the welding part model, the current position of the welding spot identification device and the position information and the angle information of the welding part, and sending the motion information to the welding spot identification device; and the welding spot identification device is used for moving to a welding spot identification position corresponding to the welding area according to the motion information sent by the positioning application program and identifying the welding spot in the welding area. According to the technical scheme of the embodiment of the invention, the positioning accuracy of the welding spot is improved, and the positioning cost is saved.
Description
Technical Field
The embodiment of the invention relates to the technical field of welding, in particular to a welding spot positioning system and method.
Background
In the automobile trial-manufacturing stage, the number of manufactured sample cars is small, and the change required in the test process is large, so the sample cars are generally welded manually, but workers easily generate the situation that the deviation between actual welding points and the welding points in a software model is large by means of roughly determining the positions of the welding points by means of drawings, and further the exposed problems during real-vehicle verification are not corresponding to simulation results, so that many non-design problems are introduced, and the real-vehicle verification effect is influenced.
In the prior art, related clamps are often used for solving the welding spot positioning problem, but the clamps are often designed for a specific part and cannot meet the requirement of frequently changing data in a sample car trial-manufacturing stage; in addition, in the prior art, the welding point can be determined through visible light or color marks and the like, but the welding point needs to be manually adjusted, the positioning precision is not high, and a large amount of labor cost is consumed.
Disclosure of Invention
The embodiment of the invention provides a welding spot positioning system and a welding spot positioning method, which can be used for positioning welding spots through the welding spot positioning system, improve the positioning accuracy of the welding spots, and save the positioning cost compared with the design of a special fixture for a certain welding part, and the system is suitable for various welding parts.
In a first aspect, an embodiment of the present invention provides a solder joint positioning system, where the system includes: the welding device comprises a state recognition device, a positioning application program and a welding spot identification device, wherein the state recognition device is arranged on a characteristic point on the outer surface of the welding part;
the state identification device is used for identifying the position information and the angle information of the welding part and sending the position information and the angle information to a positioning application program;
the positioning application program is used for determining the motion information of the welding spot identification device according to the welding area selected by the user in the welding part model, the current position of the welding spot identification device and the position information and the angle information of the welding part, and sending the motion information to the welding spot identification device;
and the welding spot identification device is used for moving to a welding spot identification position corresponding to the welding area according to the motion information sent by the positioning application program and identifying the welding spot in the welding area.
In a second aspect, an embodiment of the present invention provides a solder joint positioning method, which is applied to positioning application software of a solder joint positioning system provided in any embodiment of the present invention, and the method includes:
receiving position information and angle information of a welding part sent by a state identification device;
and determining the motion information of the welding spot identification device according to the welding area selected by the user in the welding part model, the current position of the welding spot identification device and the position information and the angle information of the welding part, and sending the motion information to the welding spot identification device.
The technical scheme of the embodiment of the invention comprises a state recognition device, a positioning application program and a welding spot identification device, wherein the state recognition device is arranged on a characteristic point on the outer surface of a welding part and is used for recognizing the position information and the angle information of the welding part and sending the position information and the angle information to the positioning application program, the positioning application program is used for determining the motion information of the welding spot identification device according to a welding area selected by a user in a welding part model, the current position of the welding spot identification device and the position information and the angle information of the welding part and sending the motion information to the welding spot identification device, the welding spot identification device is used for moving to the welding spot identification position corresponding to the welding area according to the motion information sent by the positioning application program and identifying the welding spot in the welding area, the welding spot positioning is carried out by a welding spot positioning system, so as to improve the positioning accuracy of the welding spot, and the system is suitable for various welding parts, and compared with a special clamp for designing a certain welding part, the positioning cost is saved.
Drawings
FIG. 1 is a schematic structural diagram of a solder joint positioning system according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a welding spot positioning system according to a second embodiment of the present invention;
FIG. 3 is a flowchart of a solder joint positioning method according to a third embodiment of the present invention;
fig. 4 is a flowchart of a solder joint positioning method according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a welding spot positioning system according to an embodiment of the present invention, where the welding spot positioning system includes: the welding device comprises a state recognition device 1, a positioning application program 2 and a welding spot identification device 3, wherein the state recognition device 1 is installed on a characteristic point of the outer surface of a welding part.
In this embodiment, the welding spot positioning system includes a state recognition device 1, a positioning application 2, and a welding spot identification device 3, where the state recognition device 1 is installed on a feature point on the outer surface of the welding part that does not need to be welded, and is used to recognize position and angle information of the welding part, the positioning application 2 is deployed on a computer or a server, and is used to control the welding spot identification device 3 to identify in a welding area according to a welding spot identification instruction of a user, and the welding spot identification device 3 is located on the periphery of the outer surface of the welding part, and can project or emit visible light to reach the position on the outer surface of the welding part, and is used to move to a corresponding position according to the welding spot identification instruction sent by the positioning application 2, and identify in the welding area, so that a worker can perform subsequent welding work.
And the state recognition device 1 is used for recognizing the position information and the angle information of the welding part and sending the position information and the angle information to the positioning application program 2.
In this embodiment, the state recognition device 1 includes a positioning device and an angle measurement device for acquiring position information and angle information of the weld assembly, and is configured to recognize current position information and angle information of the weld assembly. The position information of the welding piece can be represented by the position information of a characteristic point on the welding piece; on the basis of establishing a three-dimensional coordinate system for the welding part in advance, the angle information can comprise a yaw angle, a roll angle and a pitch angle of the welding part. After the position information and the angle information of the welding part are recognized, the position information and the angle information can be sent to the positioning application program 2, so that the positioning application program 2 can control the welding spot identification device 3 to adjust the position and the posture of the welding spot identification device according to the state of the welding part, and welding spot identification is achieved.
Illustratively, the state recognition device 1 may include a gyroscope for measuring angle information and a Positioning device for recognizing position information, such as an indoor GPS (Global Positioning System), and the gyroscope and the Positioning device may be installed at the same characteristic point or different characteristic points of the weld surface, and it is noted that the characteristic points where the gyroscope and the Positioning device are installed are to avoid the area where welding is required on the outer surface of the weld.
And the positioning application program 2 is used for determining the motion information of the welding spot identification device 3 according to the welding area selected by the user in the welding part model, the current position of the welding spot identification device 3, and the position information and the angle information of the welding part, and sending the motion information to the welding spot identification device 3.
In this embodiment, the positioning application program 2 is mainly configured to control the welding spot identification device 3 to move to a corresponding area according to a welding area selected by a user in the welding part model, and adjust the posture to identify the welding spot, specifically, the positioning application program 2 calculates the movement information of the welding spot identification device 3 according to the welding area selected by the user in the welding part model, the current position of the welding spot identification device 3, and the position information and the angle information of the welding part, and then sends the movement information to the welding spot identification device 3 to instruct the welding spot identification device 3 to adjust the position and the posture according to the movement information, and identify the welding spot. The motion information may include a motion track and angle information, and is used to instruct the welding spot identification device 3 to move to a corresponding position according to the motion track, and then perform angle adjustment of the welding spot identification device 3 according to the angle information.
Optionally, before that, the positioning application 2 may implement fitting of the position coordinates according to the actual position coordinates of a plurality of feature points on the welded part and the theoretical position coordinates of the feature points corresponding to the welded part model, for example, using the feature points of the installation state identification apparatus 1 as the origin of coordinates of the three-dimensional coordinate system.
And the welding spot identification device 3 is used for moving to a welding spot identification position corresponding to the welding area according to the motion information sent by the positioning application program 2 and identifying the welding spot in the welding area.
In this embodiment, the welding spot identification device 3 is mainly configured to receive the motion information sent by the positioning application program 2, move to a welding spot identification position corresponding to the welding area according to the motion information, and identify the welding spot in the welding area, specifically, the welding spot identification device 3 moves to the welding spot identification device 3 corresponding to the welding area along the motion track in the motion information, and further, performs angle adjustment according to the angle information in the motion information, and then identifies the welding spot in the welding area.
For example, the welding spot identification device 3 may include a bracket and a visible light emitting head, the bracket may be mounted on a preset track, and the welding spot identification device 3 may further adjust an angle of the visible light emitting head to face the welding area when moving to a welding spot identification position corresponding to the welding area along the track according to a movement track in the movement information, for example, moving to a position right in front of the welding area, and finally project the visible light to the welding area to guide a worker to perform welding work.
Compared with the situation that the welding spot is positioned by a special fixture without universality in the prior art, the welding spot positioning system in the embodiment can position welding parts of different types universally by controlling the welding spot identification device 3 to carry out welding spot identification through the positioning application program 2, is not related to the structure of the welding part, and improves the universality of the welding spot positioning system.
The technical scheme of the embodiment of the invention is that the welding spot positioning system comprises a state recognition device, a positioning application program and a welding spot identification device, wherein the state recognition device is arranged on a characteristic point on the outer surface of a welding part and is used for recognizing the position information and the angle information of the welding part and sending the position information and the angle information to the positioning application program, the positioning application program is used for determining the motion information of the welding spot identification device according to a welding area selected by a user in a welding part model, the current position of the welding spot identification device and the position information and the angle information of the welding part and sending the motion information to the welding spot identification device, the welding spot identification device is used for moving to the welding spot identification position corresponding to the welding area according to the motion information sent by the positioning application program, identifying the welding spot in the welding area and positioning the welding spot by the welding spot positioning system, the welding spot positioning accuracy is improved, the welding spot positioning device is suitable for various welding parts, and compared with a mode of relating a special clamp to a certain welding part, the positioning cost can be saved.
Example two
Fig. 2 is a schematic structural diagram of a welding spot positioning system in a second embodiment of the present invention, where this embodiment is applicable to a situation where a welding spot identification device moves on a track of the welding spot identification device, and the welding spot positioning system provided in this embodiment further includes a track 4 of the welding spot identification device and a driving device 5 of the welding spot identification device on the basis of the above embodiment.
Solder joint positioning system, comprising: the welding device comprises a state recognition device 1, a positioning application program 2 and a welding spot identification device 3, wherein the state recognition device 1 is arranged on a characteristic point on the outer surface of a welding part;
the state recognition device 1 is used for recognizing the position information and the angle information of the welding part and sending the position information and the angle information to the positioning application program 2;
the positioning application program 2 is used for determining the motion information of the welding spot identification device 3 according to the welding area selected by the user in the welding part model, the current position of the welding spot identification device 3 and the position information and the angle information of the welding part, and sending the motion information to the welding spot identification device 3;
and the welding spot identification device 3 is used for moving to a welding spot identification position corresponding to the welding area according to the motion information sent by the positioning application program 2 and identifying the welding spot in the welding area.
Optionally, the welding spot positioning system further includes a welding spot identification device operation track 4, and the welding spot identification device 3 is installed on and operates on the welding spot identification device operation track 4;
correspondingly, the welding spot identification device 3 is specifically configured to:
and according to the motion information sent by the positioning application program 2, moving to a welding spot identification position corresponding to the welding area along the welding spot identification device running track 4, and identifying the welding spot in the welding area.
In this optional embodiment, the welding spot positioning system further includes a welding spot identification device operation track 4, the welding spot identification device operation track 4 is used for carrying the welding spot identification device 3, and the welding spot identification device 3 needs to move along the welding spot identification device operation track 4 when moving, for example, the welding spot identification device operation track 4 may be a circular ring shape or a cross shape, and specifically, the welding spot identification device operation track 4 may be set according to the position and the shape of the welding part, so as to ensure that the projection of the welding spot identification device 3 can cover each region of the welding part from multiple angles.
After the welding spot identification device 3 receives the motion information sent by the positioning application program 2, the welding spot identification device can move to a welding spot identification position corresponding to the welding area along the welding spot identification device running track 4 according to the motion information, and the welding spot is identified in the welding area in a visible light or projection mode.
Optionally, the welding spot positioning system further includes a welding spot identification device driving device 5, and the welding spot identification device driving device 5 is connected to the welding spot identification device 3;
and the welding spot identification device driving device 5 is used for providing power for the welding spot identification device 3.
In this optional embodiment, the welding spot positioning system further includes a welding spot identification device driving device 5, where the welding spot identification device driving device 5 may provide power for the welding spot identification device 3 through a motor or other power source, so as to ensure that the welding spot identification device 3 can stably and continuously run on the welding spot identification device running track 4 according to the motion information after receiving the motion information sent by the positioning application program 2.
Optionally, the positioning application software is specifically configured to:
fitting the position coordinates of the welding part and the welding part model according to the measured coordinate values of the characteristic points on the welding part input by a user and the theoretical coordinate values of the virtual characteristic points corresponding to the characteristic points in the welding part model which is imported in advance;
determining the mark position of the welding spot according to the position information of the welding part;
determining the motion track of the welding spot identification device 3 according to the current position of the welding spot identification device 3 and the welding spot identification position;
determining the rotation angle of the welding spot identification device 3 according to the position of the welding area and the angle information of the welding part;
and sending the motion trail and the rotation angle to the welding spot identification device 3.
In this optional embodiment, a specific application of the positioning application software 2 is provided, first, in order to establish a corresponding relationship between an actual coordinate value of each point on the outer surface of the welded part and a virtual coordinate value of each point in the welded part model imported by a user, a measured coordinate value of at least one feature point on the welded part input by the user needs to be obtained, where the measured coordinate value is a coordinate value in a three-dimensional coordinate system established with the feature point in the outer surface of the welded part as an origin, and then the measured coordinate value and a theoretical coordinate value of a virtual feature point corresponding to the feature point in the welded part model imported by the user are fitted to realize a correspondence between the measured coordinate value and the virtual coordinate value of each point on the outer surface of the welded part. The weldment model may be a user-introduced weldment model in the form of CAD (Computer Aided Design) or CATIA (Computer Aided Design-dimensional Interactive Application, Interactive CAD/CAE/CAM system). Through carrying out the fitting with the measurement coordinate value and the virtual coordinate value of welding surface each point, improved the precision of solder joint location to rely on a welding model to fix a position, reduced wrong welding, hourglass welding, off normal scheduling problem, and need not the manual work and look over a welding model or drawing and carry out manual positioning, need not manual adjustment welding gesture and adapt to solder joint positioning device, reduce the human cost.
The positioning application software 2 may determine the welding spot identification position according to the current position information of the welding part, for example, a position on the welding spot identification device operation track 5 closest to the current position of the welding part is used as the welding spot identification position, or the welding spot identification position corresponding to the current position information of the welding part is determined according to a preset corresponding relationship between each welding spot identification position of the welding spot identification device operation track 4 and the position of the welding part. The position information of the welding part is identified by the state identification device 1 and sent to the positioning application software 2.
Further, after the welding spot identification position is determined, the movement track of the welding spot identification device 3 is determined according to the welding spot identification position and the current position of the welding spot identification device 3, specifically, the movement track of the welding spot identification device 3 is a part of track route in the welding spot identification device running track 4 which takes the current position of the welding spot identification device 3 as a starting point and the welding spot identification position as an end point, and the welding spot identification device 3 can move to the welding spot identification position corresponding to the welding area according to the movement track.
Further, after the welding spot identification device 3 moves to the welding spot identification position, the angle of the welding spot identification device 3 needs to be adjusted, so that the welding spot identification device 3 can accurately identify the welding spot, and specifically, the rotation angle of the welding spot identification device 3 can be calculated according to the position of the welding area and the angle information of the welding part. For example, the welding spot identification device 3 is used for identifying the welding spot by emitting visible light, and after reaching the welding spot identification position, the angle of the visible light emitting head in the welding spot identification device 3 needs to be further adjusted to ensure accurate identification of the welding spot. Finally, the positioning application 2 sends the movement track and the rotation angle to the welding spot identification device 3, so that the welding spot identification device 3 identifies the welding spot according to the movement track and the rotation angle.
Optionally, the welding spot identification device 3 is specifically configured to:
and moving to a welding point identification position corresponding to the welding area along the motion track sent by the positioning application program 2, adjusting the angle according to the rotation angle sent by the positioning application program 2, and identifying the welding point in the welding area.
In this optional embodiment, the welding spot identification device 3 may move to the welding spot identification position corresponding to the welding area along the motion trajectory sent by the positioning application program 2, and perform angle adjustment according to the rotation angle sent by the positioning application program 2 at the welding spot identification position, and after the angle adjustment, identify the welding spot at the welding area, the whole identification process does not need manual control, and the welding spot identification device 3 may identify the welding spot according to the motion information, thereby improving the welding efficiency.
Optionally, the manner of the welding spot identification device 3 performing welding spot identification in the welding area includes at least one of the following:
the welding spot identification device 3 identifies the welding spots by means of visible light identification, color identification or projection identification.
In this optional embodiment, a plurality of ways of performing the welding spot identification by the welding spot identification device 3 are provided, including identifying by visible light, specifically, mapping the visible light on the welding spot; color identification, specifically, coating fuel points with different colors on the outer surface of the welding part to the welding spot; the welding spot identification device can also be a projection identification, and specifically, the welding spot identification device 3 is projected on a welding spot through a light source arranged on one surface, far away from the welding part, of the welding spot identification device 3.
Optionally, the state recognition apparatus 1 includes: a gyroscope and a positioning device;
the gyroscope is used for identifying angle information of the welding part;
the positioning device is used for identifying the position information of the welding piece.
In this optional embodiment, a specific structure of the state identification device 1 is provided, where the state identification device 1 includes a gyroscope and a positioning device, specifically, the gyroscope may identify angle information of a weld, and the positioning device may identify position information of the weld.
The technical scheme of the embodiment of the invention is that the welding spot positioning system comprises a state recognition device, a positioning application program, a welding spot identification device running track and a welding spot identification device driving device, wherein the state recognition device is arranged on a characteristic point on the outer surface of a welding part and is used for recognizing the position information and the angle information of the welding part and sending the position information and the angle information to the positioning application program, the positioning application program is used for determining the motion information of the welding spot identification device according to a welding area selected by a user in a welding part model, the current position of the welding spot identification device and the position information and the angle information of the welding part and sending the motion information to the welding spot identification device, the welding spot identification device is used for moving to the welding spot identification position corresponding to the welding area along the welding spot identification device running track according to the motion information sent by the positioning application program, and the welding spots are marked in the welding area, the welding spots are positioned by the welding spot positioning system, the positioning accuracy of the welding spots is improved, and the system is suitable for various welding parts and saves the positioning cost compared with a special fixture for designing a certain welding part.
EXAMPLE III
Fig. 3 is a flowchart of a solder joint positioning method in a third embodiment of the present invention, where the technical solution of this embodiment is suitable for a situation where a solder joint is positioned and identified by a solder joint positioning system, and the method can be applied to the solder joint positioning system, and specifically includes the following steps:
and step 310, receiving the position information and the angle information of the welding piece sent by the state identification device.
The state recognition device is used for recognizing the current position information and the placement angle information of the welding part, can be arranged on a characteristic point of the outer surface of the welding part, which is not required to be welded, and takes the position information corresponding to the characteristic point as the current position information of the welding part. For example, the state recognition device may include a positioning device and a gyroscope, which are respectively used to obtain the current position information and the current angle information of the welding part.
In this embodiment, the positioning application receives the current position information and angle information of the welding part sent by the state recognition device, so that when a user initiates a welding spot identification instruction for a welding area, the positioning application calculates the adjustment information of the position and angle that the welding spot identification device needs to perform according to the current position information and angle information of the welding part, and further controls the welding spot identification device to perform position and angle adjustment.
And step 320, determining the motion information of the welding spot identification device according to the welding area selected by the user in the welding part model, the current position of the welding spot identification device and the position information and the angle information of the welding part, and sending the motion information to the welding spot identification device.
In this embodiment, after receiving the position information and the angle information of the welding part sent by the state recognition device, the positioning application calculates the motion information for guiding the welding point identification device to adjust the position and the posture according to the welding area, the position information and the angle information of the welding part, and the current position of the welding point identification device, which are selected by the user in the welding part model. The movement information can include adjustment information of position and posture, specifically, a target position to be reached by the welding spot identification device can be determined according to position information of a welding piece, further, according to a current position and the target position of the welding spot identification device, a running track of the welding spot identification device is determined by combining characteristics of a running track of the welding spot identification device, so that the welding spot identification device is indicated to run to the target position along the running track, further, according to the position of a welding area and angle information of the welding piece, a rotation angle of the welding spot identification device is determined, so that the welding spot identification device is indicated to complete posture adjustment according to the rotation angle, and finally, the positioning application program sends the movement information to the welding spot identification device to indicate the welding spot identification device to adjust the position and the posture.
According to the technical scheme of the embodiment of the invention, the positioning application software receives the position information and the angle information of the welding part sent by the state recognition device, further determines the motion information of the welding point identification device according to the welding area selected by a user in a welding part model, the current position of the welding point identification device and the position information and the angle information of the welding part, and sends the motion information to the welding point identification device, so that the welding point identification device identifies the welding point in the welding area, and the welding point positioning is carried out through the welding point positioning system, so that the welding point positioning accuracy is improved.
Example four
Fig. 4 is a flowchart of a welding spot positioning method in a fourth embodiment of the present invention, and the technical solution of this embodiment is further detailed on the basis of the foregoing embodiment, and provides specific steps before receiving position information and angle information of a welding part sent by a state identification device, and specific steps for determining motion information of a welding spot identification device according to a welding area selected by a user in a welding part model, a current position of the welding spot identification device, and the position information and angle information of the welding part. A welding spot positioning method provided by a third embodiment of the present invention is described below with reference to fig. 3, including the following steps:
and step 410, fitting the position coordinates of the welding part and the welding part model according to the measured coordinate values of the characteristic points on the welding part input by the user and the theoretical coordinate values of the virtual characteristic points corresponding to the characteristic points in the pre-introduced welding part model.
In this embodiment, in order to establish a corresponding relationship between an actual coordinate value of each point on the outer surface of the welded part and a virtual coordinate value of each point in the welded part model imported by a user, the positioning application software needs to first acquire a measured coordinate value of at least one feature point on the welded part input by the user, where the measured coordinate value is a coordinate value in a three-dimensional coordinate system established with the feature point in the outer surface of the welded part as an origin, and then fit the measured coordinate value and a theoretical coordinate value of a virtual feature point corresponding to the feature point in the welded part model imported by the user, so as to implement a correspondence between the measured coordinate value and the virtual coordinate value of each point on the outer surface of the welded part.
For example, the positioning application software may use the position of the installation state identification device as a feature point, and fit the measured coordinate of at least one feature point on the welding part with the virtual coordinate value of the virtual feature point corresponding to the at least one feature point in the welding part model, so as to establish the corresponding relationship between the measured coordinate value and the virtual coordinate value of each point on the outer surface of the welding part. For example, one of the feature points and the position coordinates of the virtual feature point corresponding to the feature point are cleared as reference coordinates.
And step 420, receiving the position information and the angle information of the welding piece sent by the state identification device.
And 430, determining the welding spot identification position according to the position information of the welding part.
In this embodiment, the positioning application software may determine the welding spot identification position according to the current position information of the welding part, for example, a position on the operation track of the welding spot identification device closest to the current position of the welding part is taken as the welding spot identification position, and the welding spot identification position corresponding to the current position information of the welding part may be determined according to a corresponding relationship between each welding spot identification position of the operation track of the welding spot identification device and the position of the welding part. And the position information of the welding part is identified by the state identification device and is sent to the positioning application software.
And step 440, determining the motion track of the welding spot identification device according to the current position of the welding spot identification device and the welding spot identification position.
In this embodiment, after the welding spot identification position is determined, the movement track of the welding spot identification device is determined by combining the welding spot identification device running track according to the welding spot identification position and the current position of the welding spot identification device, specifically, the movement track of the welding spot identification device is a part of track route in the welding spot identification device running track with the current position of the welding spot identification device as a starting point and the welding spot identification position as an end point, and the welding spot identification device can move to the welding spot identification position corresponding to the welding area on the welding spot identification device running track along the movement track.
And step 450, determining the rotation angle of the welding spot identification device according to the position of the welding area and the angle information of the welding part.
In this embodiment, after the welding spot identification device moves to the welding spot identification position, the angle of the welding spot identification device needs to be further adjusted, so that the welding spot identification device can accurately identify the welding spot, and specifically, the rotation angle of the welding spot identification device can be calculated according to the position of the welding area and the angle information of the welding part. Illustratively, the welding spot identification device performs welding spot identification by emitting visible light, and after reaching the welding spot identification position, the angle of a visible light emitting head in the welding spot identification device needs to be further adjusted to ensure accurate welding spot identification.
Step 460, the motion trail and the rotation angle are sent to the welding spot identification device.
In this embodiment, the positioning application sends the movement track and the rotation angle to the welding spot identification device to instruct the welding spot identification device to adjust the position and the posture according to the movement track and the rotation angle, and perform welding spot identification after the adjustment is completed, so that the accuracy of the welding spot identification is improved, a fixture adapted to a certain welding part is not required to be arranged, and the cost of the welding spot identification is reduced.
The technical scheme of the embodiment of the invention fits the position coordinates of the welding piece and the welding piece model according to the measured coordinate value of the characteristic point on the welding piece input by a user and the theoretical coordinate value of the virtual characteristic point corresponding to the characteristic point in the welding piece model which is led in advance, receives the position information and the angle information of the welding piece sent by the state recognition device, determines the identification position of the welding point according to the position information of the welding piece, determines the motion track of the welding point identification device according to the current position and the identification position of the welding point identification device, determines the rotation angle of the welding point identification device according to the position of the welding area and the angle information of the welding piece, finally sends the motion track and the rotation angle to the welding point identification device, carries out welding point positioning by a welding point positioning system, improves the positioning accuracy of the welding point, and the system is suitable for various welding pieces and is compared with a special fixture for designing a certain welding piece, the positioning cost is saved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A solder joint positioning system, comprising: the welding device comprises a state recognition device, a positioning application program and a welding spot identification device, wherein the state recognition device is arranged on a characteristic point on the outer surface of the welding part;
the state identification device is used for identifying the position information and the angle information of the welding part and sending the position information and the angle information to a positioning application program;
the positioning application program is used for determining the motion information of the welding spot identification device according to the welding area selected by the user in the welding part model, the current position of the welding spot identification device and the position information and the angle information of the welding part, and sending the motion information to the welding spot identification device;
and the welding spot identification device is used for moving to a welding spot identification position corresponding to the welding area according to the motion information sent by the positioning application program and identifying the welding spot in the welding area.
2. The system of claim 1, further comprising: the welding spot identification device comprises a welding spot identification device running track, wherein the welding spot identification device is installed and runs on the welding spot identification device running track;
correspondingly, the welding spot identification device is specifically configured to:
and moving to a welding spot identification position corresponding to a welding area along the operation track of the welding spot identification device according to the movement information sent by the positioning application program, and identifying the welding spot in the welding area.
3. The system of any of claim 1, further comprising: the welding spot identification device driving device is connected with the welding spot identification device;
and the welding spot identification device driving device is used for providing power for the welding spot identification device.
4. The system of claim 1, wherein the positioning application is specifically configured to:
fitting the position coordinates of the welding part and the welding part model according to the measured coordinate values of the characteristic points on the welding part input by a user and the theoretical coordinate values of the virtual characteristic points corresponding to the characteristic points in the welding part model which is imported in advance;
determining the welding spot identification position according to the position information of the welding part;
determining the motion track of the welding spot identification device according to the current position of the welding spot identification device and the welding spot identification position;
determining the rotation angle of the welding spot identification device according to the position of the welding area and the angle information of the welding part;
and sending the motion trail and the rotation angle to a welding spot identification device.
5. The system of claim 4, wherein the solder joint identification apparatus is specifically configured to:
and moving to a welding point identification position corresponding to the welding area along the motion track sent by the positioning application program, adjusting the angle according to the rotation angle sent by the positioning application program, and identifying the welding point in the welding area.
6. The system of claim 1, wherein the weld point identification device performs weld point identification at the weld area in a manner comprising at least one of:
the welding spot identification device identifies welding spots in a visible light identification mode, a color identification mode or a projection identification mode.
7. The system according to any one of claims 1 to 6, wherein the state identifying means comprises: a gyroscope and a positioning device;
the gyroscope is used for identifying angle information of the welding part;
the positioning device is used for identifying the position information of the welding piece.
8. A method for spot welding location, applied in a location application software of a spot welding location system according to any one of claims 1-7, comprising:
receiving position information and angle information of a welding part sent by a state identification device;
and determining the motion information of the welding spot identification device according to the welding area selected by the user in the welding part model, the current position of the welding spot identification device and the position information and the angle information of the welding part, and sending the motion information to the welding spot identification device.
9. The method of claim 8, wherein prior to receiving the position information and the angle information of the weldment sent by the state identification device, further comprising:
and fitting the position coordinates of the welding part and the welding part model according to the measured coordinate values of the characteristic points on the welding part input by the user and the theoretical coordinate values of the virtual characteristic points corresponding to the characteristic points in the welding part model which is imported in advance.
10. The method of claim 8, wherein determining the motion information of the weld point identification device according to the weld area selected by the user in the weld model, the current position of the weld point identification device, and the position information and the angle information of the weld comprises:
determining the welding spot identification position according to the position information of the welding part;
determining the motion track of the welding spot identification device according to the current position of the welding spot identification device and the welding spot identification position;
determining the rotation angle of the welding spot identification device according to the position of the welding area and the angle information of the welding part;
and sending the motion trail and the rotation angle to a welding spot identification device.
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| CN202110504161.4A CN113182738A (en) | 2021-05-10 | 2021-05-10 | Welding spot positioning system and method |
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