WO2020215585A1 - Linear system and method for inspecting solder joint quality of workpiece - Google Patents

Linear system and method for inspecting solder joint quality of workpiece Download PDF

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Publication number
WO2020215585A1
WO2020215585A1 PCT/CN2019/104622 CN2019104622W WO2020215585A1 WO 2020215585 A1 WO2020215585 A1 WO 2020215585A1 CN 2019104622 W CN2019104622 W CN 2019104622W WO 2020215585 A1 WO2020215585 A1 WO 2020215585A1
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Prior art keywords
workpiece
solder joint
welding
solder
welding quality
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PCT/CN2019/104622
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French (fr)
Chinese (zh)
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王鹏
孙佳
申洲
黄一锟
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中国科学院自动化研究所
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Publication of WO2020215585A1 publication Critical patent/WO2020215585A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined

Definitions

  • the invention relates to the technical field of welding, and in particular to a system and method for detecting the welding quality of the welding spot of a linear workpiece.
  • the compressor room is the installation room of the compressor.
  • the copper pipe on the compressor needs to be connected with other parts to transport the condensate.
  • the welding quality of these solder joints needs to be checked one by one with a solder joint inspection instrument to ensure that the welding is good and there is no leakage.
  • the welding point inspection of the compressor cabin is manually completed.
  • manual detection methods have low detection efficiency, poor consistency, and high cost, and cannot meet the production requirements of high-quality products.
  • the present invention provides a welding quality detection system and method for solder joints of linear workpieces.
  • the first aspect of the embodiments of the present invention provides a welding quality inspection system for the welding spot of a linear workpiece, including:
  • a visual positioning module for acquiring an image of a workpiece with welding spots and acquiring the position of the welding spot on the workpiece based on the acquired image
  • a robot based on the acquired position of the welding spot on the workpiece, driving the welding spot inspection instrument to move to the welding spot and clamping the welding spot;
  • the solder joint inspection instrument rotates around the solder joint to obtain welding quality data of the solder joint
  • the host computer provides input instructions for the user to control the visual positioning module, the solder joint inspection instrument, the robot and the force feedback module.
  • the welding quality inspection system for the welding spot of the linear workpiece further includes:
  • a workpiece conveying device for conveying the workpiece
  • the identification code scanning module obtains the model information of the workpiece through the identification code and compares the number of solder joints detected on the workpiece with the pre-stored number of solder joints of the workpiece:
  • the robot drives the solder joint inspection instrument to rotate around the solder joints to obtain the solder joints that are not detected Welding quality data.
  • the welding quality inspection system for the welding point of the linear workpiece further includes a force feedback module installed between the welding point inspection instrument and the welding point to obtain the welding The force information between the spot detection instrument and the solder joint, and based on the acquired force information, the posture of the solder joint detection instrument is adjusted in real time, so that the solder joint detection instrument always clamps the solder joint And it will not damage the solder joints or damage the solder joint inspection instrument.
  • the coordinate system for the movement of the solder joint inspection instrument is generated based on the image coordinate system of the solder joint in the image by the visual positioning module.
  • the welding quality inspection system for the welding point of the linear workpiece further includes a data storage and/or processing module to store and/or process the welding quality data.
  • the second aspect of the embodiments of the present invention provides a method for inspecting the welding quality of a welding spot of a linear workpiece.
  • the method includes the steps:
  • step S2 based on the image obtained in step S1, obtain position information of the solder joint on the workpiece;
  • the model information of the workpiece is acquired based on the identification code marked on the workpiece, and the number of the solder joints detected on the workpiece is compared with the pre-stored number of solder joints of the workpiece ,
  • step S4 If the number of solder joints that have been detected is less than the pre-stored number of solder joints of the workpiece, continue to perform step S4 on the undetected solder joints on the workpiece.
  • the method for inspecting the welding quality of the welding spot of the linear workpiece further includes step S31:
  • the coordinate system for the movement of the solder joint inspection instrument in step S3 is generated based on the image coordinate system of the solder joint in the image.
  • the welding quality data obtained in step S4 is stored and/or processed.
  • solder joint inspection instrument is driven to move to the solder joint according to the positioning information and the solder joint is always clamped. Finally, the solder joint inspection instrument is driven to rotate around the solder joint to automatically complete the alignment. Welding quality inspection of solder joints to avoid the occurrence of low manual inspection efficiency, poor consistency and high cost;
  • the force between the solder joint inspection instrument and the solder joint can be adjusted to make the force within a threshold.
  • the solder joint inspection instrument can always clamp the solder joint. At the same time, it will not damage the solder joints or damage the solder joint inspection equipment.
  • the force is prevented from being too small, thereby ensuring that the solder joint inspection equipment can always be effectively detected during the movement process, and on the other hand, it can avoid the excessive force caused by the force.
  • the occurrence of damage to the solder joints and damage to the solder joint inspection equipment further ensures the reliability and accuracy of the solder joint quality inspection, avoids the destruction of the solder joints during the inspection process, and extends the service life of the solder joint inspection equipment;
  • Fig. 1 is a schematic structural diagram of an embodiment of a welding quality inspection system for welding spot of a linear workpiece
  • FIG. 2 is a flowchart of an embodiment of a method for inspecting welding quality of a welding spot of a linear workpiece
  • FIG. 3 is a flowchart of another embodiment of a method for inspecting welding quality of a welding spot of a linear workpiece
  • FIG. 4 is a flowchart of another embodiment of a method for inspecting welding quality of a welding spot of a linear workpiece
  • Fig. 5 is a control block diagram of an embodiment of the welding quality inspection system for the welding spot of the linear workpiece
  • Figure 6 is a schematic diagram of a distribution of solder joints on a workpiece.
  • welding is widely used.
  • welding spot inspection instruments are usually used to inspect welding quality.
  • the first aspect of the embodiments of the present invention provides a welding quality inspection system for the welding spot of a linear workpiece.
  • the system includes:
  • the visual positioning module 5 is used to obtain an image of the workpiece 2 with solder joints and to obtain the position of the solder joint on the workpiece 2 based on the acquired image;
  • the robot 7 drives the welding spot inspection instrument 8 to move to the welding spot position based on the acquired position of the welding spot on the workpiece 2;
  • the upper computer 6 provides the user with input instructions to control the visual positioning module 5, the solder joint inspection instrument 8, the robot 7 and the force feedback module 9.
  • the user controls the visual positioning module 5, the welding spot inspection instrument 8, the robot 7 and the force feedback module 9 through the upper computer 6 input instructions or a pre-stored fixed program Working state, so as to realize the automatic operation of welding spot welding quality inspection. Realize the automatic identification and inspection of solder joints, which greatly improves inspection efficiency and inspection quality.
  • a specific manner of the visual positioning module 5 includes a light source, a CCD camera, and an image capture card.
  • the light source is an electric light source or other light sources, and the light emitted by the light source illuminates the workpiece 2 so that the brightness of the workpiece 2 is sufficient to ensure the accuracy of detection;
  • the CCD camera is the abbreviation of charge coupled device (charge coupled device). The light becomes electric charge and the charge is stored and transferred. The stored charge can also be taken out to change the voltage. Therefore, it is an ideal CCD camera element.
  • the CCD camera formed by it has small size, light weight, and is not affected by magnetic fields.
  • image capture card also known as image capture card, is a hardware device that can obtain digital video image information, store and play it, and capture the CCD camera through the image capture card
  • image data of the workpiece 2 with solder joints is digitized for use.
  • the welding spot detection instrument 8 The working principle is: by sucking in the air near the solder joint, detecting whether there is a specific gas (gas after vaporization from the condenser leaking from the condenser pipe connected to the compressor) exceeds the concentration threshold to determine whether there is gas leakage at the solder joint. Thereby, the welding quality evaluation at the welding point can be obtained.
  • the gas at the solder joint is sampled by the solder joint inspection instrument 8, and then the sampled gas is analyzed through the gas analysis module of the solder joint inspection instrument 8. If the specific gas in it exceeds the concentration threshold (pre-stored Method), which means that the solder joint is leaking. At this time, the host computer 6 can send a leak indication, and the host computer 6 can prompt the user through sound (such as alarm) and/or image (such as highlighting), or Store the concentration data of the specific gas for subsequent tracking and analysis.
  • concentration threshold pre-stored Method
  • the host computer 6 may be a PC host configured with an operating system, or may be a user operation interface.
  • the welding spot inspection instrument 8 can choose equipment based on the principle of non-destructive testing (such as ultrasonic inspection instrument and radiographic inspection instrument). Etc.), selecting suitable non-destructive testing equipment according to actual application scenarios is well known to those skilled in the art and will not be repeated.
  • the robot 7 adopts the robot 7 with multiple degrees of freedom (for example, six degrees of freedom) to improve the flexibility of movement, thereby facilitating the adjustment of the posture of the solder joint inspection instrument 8.
  • the robot 7 includes a robot control cabinet 72 and a robot body 71.
  • the movement of the robot body 71 is controlled by the robot control cabinet 72.
  • the end of the arm of the robot body 71 is equipped with the aforementioned solder joint inspection instrument 8.
  • the camera obtains the visual information of the workpiece 2 and provides a visual image for the action of the robot 7's working arm.
  • the result of the visual positioning module 5 is used to clamp the solder joint inspection instrument 8 to the solder joint position for detection, and at the same time, the posture of the robot 7 is adjusted in real time according to the force sense signal of the force feedback module 9. Thereby, the welding quality inspection of the solder joints can be completed stably, reliably and accurately.
  • the host computer 6 provides input instructions for the user to control the working status of the visual positioning module 5, the solder joint inspection instrument 8, the robot 7 and the force feedback module 9.
  • the host computer 6 can be displayed on the screen to complete the visualization operation and display the instructions, the image acquired by the visual positioning module 5, the solder joint quality data detected by the solder joint inspection instrument 8 and other information.
  • the upper computer 6 can also be selected as a controller, which has a pre-stored program inside to automatically control the working status of the visual positioning module 5, the solder joint inspection instrument 8, the robot 7 and the force feedback module 9. Further improve the degree of automation.
  • the welding quality inspection system of the linear workpiece welding spot in the embodiment of the present invention further includes an identification code, a workpiece conveying device 1 (such as a conveyor belt, a conveying roller, etc.), and an identification code scanning module 4, wherein the identification code is fixed to the workpiece 2.
  • the identification code contains the model information of the workpiece 2 and the number of solder joints
  • the model information of the workpiece 2 and the number of solder joints are obtained by scanning the identification code through the identification code scanning module 4
  • the model information of the workpiece 2 is obtained by scanning the identification code And compare the number of welded joints on the workpiece 2 with the number of welded joints of the pre-stored workpiece 2,
  • the number of welds detected is equal to the number of welds of the workpiece 2 stored in advance, that is, all the welds on the workpiece 2 are detected, and the workpiece 2 is transported to the subsequent station by the workpiece 2 conveying device 1;
  • the robot 7 drives the weld inspection instrument 8 to rotate around the weld to obtain the Welding quality data of the inspected solder joints. After this setting is completed, it is automatically judged whether all the solder joints on the workpiece 2 have been detected and the workpiece 2 is automatically transported after the detection of all solder joints on the workpiece 2 is completed. While ensuring the reliability and accuracy of detection, the degree of automation is further improved.
  • the aforementioned identification code may be a barcode, a two-dimensional code, or the like.
  • the identification code scanning module 4 is a barcode scanning gun, a two-dimensional code scanning gun, and the like.
  • the welding quality inspection system for the welding spot of the linear workpiece further includes a force feedback module 9 installed between the welding spot inspection instrument 8 and the welding spot to obtain the welding spot inspection instrument 8
  • the force information between and the solder joint and based on the acquired force information, the posture of the solder joint inspection instrument 8 is adjusted in real time, so that the solder joint inspection instrument 8 always clamps the solder joint and does not damage the solder joint or damage the solder joint inspection
  • the instrument 8, driven by the robot 7, the solder joint inspection instrument 8 rotates around the solder joint to obtain the welding quality data of the solder joint.
  • the force feedback module 9 is based on a two-dimensional force sensor to detect the radial sum of the solder joint inspection instrument 8 in real time.
  • Axial force in two directions contact force
  • the contact force is fed back to the robot 7 (robot 7 control cabinet)
  • the robot 7 control cabinet compares the contact force with the force threshold pre-stored in the robot 7 control cabinet.
  • the robot 7 control cabinet compares the contact force with the force threshold pre-stored in the robot 7 control cabinet.
  • this setting prevents the force between the solder joint inspection instrument 8 and the solder joint from being too small, so that the solder joint inspection instrument 8 is always clamped on the solder joint, ensuring reliable and accurate inspection of the solder joint quality; On the one hand, avoid excessive force between the solder joint detection instrument 8 and the solder joint, and avoid damage to the solder joint and damage to the solder joint detection instrument 8 that may occur due to excessive force between the two.
  • the workpiece 2 is located in the middle of the image. This setting avoids as much as possible the image distortion caused by the viewing angle problem of the video positioning system, that is, the solder joints are positioned more accurately, and accordingly, the movement of the solder joint inspection instrument 8 is more accurate, thereby fundamentally improving This improves the reliability and accuracy of solder joint quality inspection.
  • the visual positioning module 5 generates a coordinate system for the movement of the solder joint inspection instrument 8 based on the image coordinate system of the solder joint in the image (the spatial coordinate system when the image is generated). The position transformation of the two coordinate systems is performed to make the movement of the solder joint inspection instrument 8 more accurate.
  • the welding quality inspection system for the welding point of the linear workpiece further includes a data storage and/or processing module to store and/or process the welding quality data as a basis for later retrieval and/or analysis .
  • a force feedback module 9 is installed between the solder joint inspection instrument 8 and the arm end of the robot 7 to monitor the force information between the solder joint inspection instrument 8 and the solder joint in real time, and adjust the robot 7 actions.
  • the robot 7 controls the inspection instrument clamped at the end to rotate 100 degrees around the solder joint, and the action stays for more than 2 seconds to ensure the intake of air around the solder joint. After completing the inspection of one solder joint, the robot 7 continues to detect the next solder joint, and the operation steps of the detection link are the same as above, until all the solder joints are inspected. After all solder joints are inspected, the robot 7 automatically resets to the initial position and waits for the next refrigerator to be in place. At the same time, the upper computer 6 processes and stores the detection results of all solder joints of the previous refrigerator and uploads them to the production line data processing system.
  • the second aspect of the embodiment of the present invention discloses a method for inspecting the welding quality of a welding spot of a linear workpiece. Referring to FIG. 2, the method includes the steps:
  • step S2 obtain the position information of the solder joint based on the image obtained in step S1;
  • the method for inspecting the welding quality of the welding spot of the linear workpiece further includes the steps of: acquiring the model information of the workpiece based on the identification code marked on the workpiece, and performing the welding on the workpiece. The number of points is compared with the number of solder points of the pre-stored workpiece,
  • step S4 If the number of detected solder joints is less than the pre-stored number of solder joints of the workpiece, continue to perform step S4 on the undetected solder joints on the workpiece.
  • the method can automatically process different types of workpieces, which expands the scope of application.
  • step S1 the workpiece is located in the middle of the image. It is conducive to the precise positioning of the solder joint position and provides a basis for the precise drive of the solder joint inspection instrument.
  • the method for inspecting the welding quality of the solder joint of the linear workpiece further includes step S31: obtaining information on the force between the solder joint inspection instrument and the solder joint, and based on the obtained force The information adjusts the posture of the solder joint inspection instrument in real time so that the solder joint inspection instrument always clamps the solder joint and will not damage the solder joint or damage the solder joint inspection instrument.
  • the coordinate system for the movement of the solder joint inspection instrument in step S3 is generated based on the image coordinate system of the solder joint in the image. In order to facilitate subsequent review and analysis of welding quality at any time.
  • the welding quality inspection system and method of the linear workpiece welding spot of the present invention can be used for the welding spot inspection of the pipeline conveying the condensing agent in the compressor cabin (compressor compartment) of the refrigerator.
  • the welding quality inspection method of the welding point of the linear workpiece includes: scanning the identification code ⁇ image acquisition of the compressor cabin ⁇ obtaining the position information of the welding point through the visual positioning system ⁇ calibration of the visual positioning system ⁇ transformation of the robot coordinate system and the image coordinate system ( The spatial coordinate system of the image acquired by the visual positioning system is converted to the spatial coordinate system of the robot 7 movement) ⁇ drive the robot 7 to clamp the solder joint inspection instrument 8 to move to the solder joint ⁇ detect the force between the solder joint inspection instrument 8 and the solder joint Information ⁇ Based on the force information, judge whether the solder joint inspection instrument 8 is pressing the solder joint.
  • the robot 7 drives the solder joint inspection instrument 8 to rotate around the solder joint for inspection. If it is not pressed, the robot 7 will fine-tune the weld and continue to inspect the welding.
  • the system for performing the above-mentioned method for detecting welding quality of the linear workpiece welding spot is composed of: an identification code is fixed on the workpiece 2, and the identification code is scanned
  • Module 4 executes “scanning identification code”, “compressor cabin image acquisition” and “acquisition of solder joint position information” are executed through visual positioning module 5, and “vision system” is executed through a program pre-stored in the host computer 6 (or controller) Calibration”, “Robot 7 coordinate system and image coordinate system change” and “driving robot 7 to clamp the welding spot inspection instrument 8 to move to the welding spot", through the force feedback module 9 "inspect the welding spot inspection instrument 8 and the welding spot between the Force information” and compare it with the force threshold pre-stored in the host computer 6.
  • the robot 7 drives the solder joint inspection instrument 8 to rotate around the solder joint. If the force is exceeded Threshold, the welding spot detection instrument 8 is fine-tuned by the robot 7, and the number of welding spots that have been detected in a compressor cabin is counted through the program pre-stored in the upper computer 6 and compared with the workpiece pre-stored in the program of the upper computer 6 2. Compare the actual number of solder joints that should be inspected to determine whether the solder joint inspections are all completed. If all inspections are completed, the program controlled robot 7 pre-stored in the host computer 6 resets and uploads the inspection results to the memory. If not all inspections, return Perform "driving the robot 7 to clamp the welding spot inspection instrument 8 to move to the welding spot" until all the welding spots on the workpiece 2 are inspected.
  • FIG. 6 shows a situation where there are five compressor cabin solder joints 10.

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Abstract

Provided is a linear system and method for inspecting solder joint quality of a workpiece (2). The method for inspecting solder joint quality of the workpiece (2) comprises the following steps: S1: obtaining an image of the workpiece (2) having solder joints; obtaining position information of a solder joint on the workpiece (2) according to the image obtained in S1; S3: driving a solder joint inspection instrument (8) to move to the location of the solder joint; and S5: driving the solder joint inspection instrument (8) to rotate around the solder joint, so as to obtain solder quality data of the solder joint. The invention implements automated solder quality inspection for solder joints, and resolves the issues of low efficiency, poor consistency, and high costs of manual inspection.

Description

线状工件焊点焊接质量检测***及方法System and method for detecting welding quality of welding spot of linear workpiece 技术领域Technical field
本发明涉及焊接技术领域，具体涉及线状工件焊点焊接质量检测***及方法。The invention relates to the technical field of welding, and in particular to a system and method for detecting the welding quality of the welding spot of a linear workpiece.
背景技术Background technique
涉及焊接工艺的设备(如冰箱)或零件生产中，通常需要对焊点的焊接质量做检测。下面以冰箱的压机舱中的焊点焊接质量检测为例进行说明。压机舱为压缩机的安装舱室，压缩机上的铜管需要与其他部件相连接，用于运输冷凝剂，这些焊点的焊接质量需要使用焊点检测仪器进行逐一检查，以确保焊接良好，没有泄露。而目前国内的冰箱生产线中，压机舱焊点检测环节均为人工完成。而人工检测方法检测效率低、一致性差、成本高，现已无法满足高品质产品生产要求。In the production of equipment (such as refrigerators) or parts involving welding processes, it is usually necessary to inspect the welding quality of the solder joints. The following takes the welding quality inspection of the welding spot in the compressor cabin of the refrigerator as an example for description. The compressor room is the installation room of the compressor. The copper pipe on the compressor needs to be connected with other parts to transport the condensate. The welding quality of these solder joints needs to be checked one by one with a solder joint inspection instrument to ensure that the welding is good and there is no leakage. . However, in the current domestic refrigerator production line, the welding point inspection of the compressor cabin is manually completed. However, manual detection methods have low detection efficiency, poor consistency, and high cost, and cannot meet the production requirements of high-quality products.
因此，需要一种线状工件焊点焊接质量检测***，以解决或至少减轻上述技术问题的发生。Therefore, there is a need for a welding quality inspection system for welding points of linear workpieces to solve or at least reduce the occurrence of the above technical problems.
发明内容Summary of the invention
为了解决现有技术中的上述问题，即为了解决人工检测方法检测效率低、一致性差、成本高的技术问题，本发明提供了一种线状工件焊点焊接质量检测***及方法。In order to solve the above-mentioned problems in the prior art, that is, to solve the technical problems of low detection efficiency, poor consistency, and high cost of manual detection methods, the present invention provides a welding quality detection system and method for solder joints of linear workpieces.
本发明实施例第一方面提供了一种线状工件焊点焊接质量检测***，包括：The first aspect of the embodiments of the present invention provides a welding quality inspection system for the welding spot of a linear workpiece, including:
视觉定位模块，用以获取带有焊点的工件的图像并且基于获取到的所述图像获取所述焊点在所述工件上的位置；A visual positioning module for acquiring an image of a workpiece with welding spots and acquiring the position of the welding spot on the workpiece based on the acquired image;
焊点检测仪器；Solder joint inspection equipment;
机器人，基于获取到的所述焊点在所述工件上的位置驱动所述焊点检测仪器向所述焊点移动并卡紧所述焊点；A robot, based on the acquired position of the welding spot on the workpiece, driving the welding spot inspection instrument to move to the welding spot and clamping the welding spot;
在所述机器人的驱动下所述焊点检测仪器绕所述焊点旋转，以获取所述焊点的焊接质量数据；以及Driven by the robot, the solder joint inspection instrument rotates around the solder joint to obtain welding quality data of the solder joint; and
上位机，为用户提供输入指令以控制所述视觉定位模块、所述焊点检测仪器、所述机器人和所述力反馈模块。The host computer provides input instructions for the user to control the visual positioning module, the solder joint inspection instrument, the robot and the force feedback module.
在一些优选实施例中，所述线状工件焊点焊接质量检测***还包括：In some preferred embodiments, the welding quality inspection system for the welding spot of the linear workpiece further includes:
识别码，固定于所述工件；Identification code, fixed to the workpiece;
工件输送装置，用于输送所述工件；以及A workpiece conveying device for conveying the workpiece; and
识别码扫描模块，通过所述识别码获取所述工件的型号信息并且将所述工件上已经检测的所述焊点的数量与预存储的所述工件的焊点数量对比：The identification code scanning module obtains the model information of the workpiece through the identification code and compares the number of solder joints detected on the workpiece with the pre-stored number of solder joints of the workpiece:
如果已经检测的所述焊点的数量等于所述预存储的所述工件的焊点数量，通过所述工件输送装置将所述工件输送至后续工位；If the number of welded joints that have been detected is equal to the pre-stored number of welded joints of the workpiece, transport the workpiece to a subsequent station through the workpiece conveying device;
如果已经检测的所述焊点的数量小于所述预存储的所述工件的焊点数量，所述机器人驱动所述焊点检测仪器绕所述焊点旋转，以获取未检测的所述焊点的焊接质量数据。If the number of solder joints that have been detected is less than the pre-stored number of solder joints of the workpiece, the robot drives the solder joint inspection instrument to rotate around the solder joints to obtain the solder joints that are not detected Welding quality data.
在一些优选实施例中，所述线状工件焊点焊接质量检测***还包括力反馈模块，所述力反馈模块安装于所述焊点检测仪器与所述焊点之间，以获取所述焊点检测仪器与所述焊点之间的作用力信息，并且基于获取的所述作用力信息实时调节所述焊点检测仪器的姿态，以使得所述焊点检测仪器始终卡紧所述焊点并且不会破坏所述焊点、损坏所述焊点检测仪器。In some preferred embodiments, the welding quality inspection system for the welding point of the linear workpiece further includes a force feedback module installed between the welding point inspection instrument and the welding point to obtain the welding The force information between the spot detection instrument and the solder joint, and based on the acquired force information, the posture of the solder joint detection instrument is adjusted in real time, so that the solder joint detection instrument always clamps the solder joint And it will not damage the solder joints or damage the solder joint inspection instrument.
在一些优选实施例中，通过所述视觉定位模块进行基于所述图像中的所述焊点的图像坐标系生成所述焊点检测仪器移动的坐标系。In some preferred embodiments, the coordinate system for the movement of the solder joint inspection instrument is generated based on the image coordinate system of the solder joint in the image by the visual positioning module.
在一些优选实施例中，所述线状工件焊点焊接质量检测***还包括数据存储和/或处理模块，以对所述焊接质量数据进行存储和/或处理。In some preferred embodiments, the welding quality inspection system for the welding point of the linear workpiece further includes a data storage and/or processing module to store and/or process the welding quality data.
本发明实施例第二方面提供了一种线状工件焊点焊接质量检测方法，该方法包括步骤：The second aspect of the embodiments of the present invention provides a method for inspecting the welding quality of a welding spot of a linear workpiece. The method includes the steps:
S1、获取带有焊点的工件的图像；S1. Obtain the image of the workpiece with solder joints;
S2、基于步骤S1获取到的所述图像获取所述焊点在所述工件上的位置信息；S2, based on the image obtained in step S1, obtain position information of the solder joint on the workpiece;
S3、驱动焊点检测仪器移动至所述焊点的位置；以及S3. Drive the solder joint inspection instrument to move to the position of the solder joint; and
S4、驱动所述焊点检测仪器绕所述焊点旋转，以获取所述焊 点的焊接质量数据。S4. Drive the solder joint inspection instrument to rotate around the solder joint to obtain welding quality data of the solder joint.
在一些优选实施例中，基于所述工件上标记的识别码获取所述工件的型号信息，将所述工件上已经检测的所述焊点的数量与预存储的所述工件的焊点数量对比，In some preferred embodiments, the model information of the workpiece is acquired based on the identification code marked on the workpiece, and the number of the solder joints detected on the workpiece is compared with the pre-stored number of solder joints of the workpiece ,
如果已经检测的所述焊点的数量等于所述预存储的所述工件的焊点数量，将所述工件输送至后续工位；If the number of the detected welding points is equal to the pre-stored number of welding points of the workpiece, transport the workpiece to a subsequent station;
如果已经检测的所述焊点的数量小于所述预存储的所述工件的焊点数量，继续对所述工件上的未检测焊点执行步骤S4。If the number of solder joints that have been detected is less than the pre-stored number of solder joints of the workpiece, continue to perform step S4 on the undetected solder joints on the workpiece.
在一些优选实施例中，所述线状工件焊点焊接质量检测方法还包括步骤S31：In some preferred embodiments, the method for inspecting the welding quality of the welding spot of the linear workpiece further includes step S31:
获取所述焊点检测仪器与所述焊点之间的作用力信息，并且基于获取的所述作用力信息实时调节所述焊点检测仪器的姿态，以使得所述焊点检测仪器始终卡紧所述焊点并且不会破坏所述焊点、损坏所述焊点检测仪器。Acquire the force information between the solder joint inspection instrument and the solder joint, and adjust the posture of the solder joint inspection instrument in real time based on the acquired force information, so that the solder joint inspection instrument is always clamped The solder joint does not damage the solder joint or damage the solder joint inspection instrument.
在一些优选实施例中，基于所述图像中的所述焊点的图像坐标系生成步骤S3中所述焊点检测仪器移动的坐标系。In some preferred embodiments, the coordinate system for the movement of the solder joint inspection instrument in step S3 is generated based on the image coordinate system of the solder joint in the image.
在一些优选实施例中，对步骤S4获取的所述焊接质量数据进行存储和/或处理。In some preferred embodiments, the welding quality data obtained in step S4 is stored and/or processed.
本发明的有益效果为：The beneficial effects of the present invention are:
通过图像方式对焊点在工件上的位置进行定位，然后根据该定位信息驱动焊点检测仪器向焊点移动并始终卡紧焊点，最后驱动焊点检测仪器绕焊点旋转，以自动完成对焊点的焊接质量检测，避免人工检测效率低、一致性差和成本高的发生；The position of the solder joint on the workpiece is positioned by the image method, and then the solder joint inspection instrument is driven to move to the solder joint according to the positioning information and the solder joint is always clamped. Finally, the solder joint inspection instrument is driven to rotate around the solder joint to automatically complete the alignment. Welding quality inspection of solder joints to avoid the occurrence of low manual inspection efficiency, poor consistency and high cost;
通过调节焊点检测仪器的姿态，以调节获取焊点检测仪器与焊点之间的作用力，使得该作用力处于一阈值内，在该阈值内，焊点检测仪器能够始终卡紧焊点的同时又不会破坏焊点、损坏焊点检测设备，一方面避免该作用力过小，从而保证了焊点检测设备运动过程中始终能够有效检测，又一方面避免该作用力过大所引起的破坏焊点、损坏焊点检测仪器的发生，进一步保证了焊点焊接质量检测的可靠、准确，避免检测过程对焊点的破坏，延长了焊点检测设备的使用寿命；By adjusting the posture of the solder joint inspection instrument, the force between the solder joint inspection instrument and the solder joint can be adjusted to make the force within a threshold. Within this threshold, the solder joint inspection instrument can always clamp the solder joint. At the same time, it will not damage the solder joints or damage the solder joint inspection equipment. On the one hand, the force is prevented from being too small, thereby ensuring that the solder joint inspection equipment can always be effectively detected during the movement process, and on the other hand, it can avoid the excessive force caused by the force. The occurrence of damage to the solder joints and damage to the solder joint inspection equipment further ensures the reliability and accuracy of the solder joint quality inspection, avoids the destruction of the solder joints during the inspection process, and extends the service life of the solder joint inspection equipment;
通过搭建基于视觉和工业机器人的冰箱压机舱焊点自动化检测与作业***，可以实现冰箱压机舱所有焊点的全自动检测作业，有效 提高冰箱生产的自动化、智能化水平。推动压机舱焊点质量检测产业化，将进一步促进家电产业的发展。By building a vision and industrial robot-based automatic inspection and operation system for the solder joints of the refrigerator compressor cabin, fully automatic inspection of all solder joints in the refrigerator compressor cabin can be realized, effectively improving the automation and intelligence level of refrigerator production. Promoting the industrialization of welding spot quality inspection in compressor cabins will further promote the development of the home appliance industry.
附图说明Description of the drawings
图1是线状工件焊点焊接质量检测***的一实施例的结构示意图；Fig. 1 is a schematic structural diagram of an embodiment of a welding quality inspection system for welding spot of a linear workpiece;
图2是线状工件焊点焊接质量检测方法的一实施例的流程图；FIG. 2 is a flowchart of an embodiment of a method for inspecting welding quality of a welding spot of a linear workpiece;
图3是线状工件焊点焊接质量检测方法的又一实施例的流程图；FIG. 3 is a flowchart of another embodiment of a method for inspecting welding quality of a welding spot of a linear workpiece;
图4是线状工件焊点焊接质量检测方法的再一实施例的流程图；4 is a flowchart of another embodiment of a method for inspecting welding quality of a welding spot of a linear workpiece;
图5是线状工件焊点焊接质量检测***的一实施例的控制框图；Fig. 5 is a control block diagram of an embodiment of the welding quality inspection system for the welding spot of the linear workpiece;
图6是焊点在工件上的一种分布示意图。Figure 6 is a schematic diagram of a distribution of solder joints on a workpiece.
附图说明：Description of the drawings:
1、工件输送装置；2、工件；3、工件上有焊点的部位；4、识别码扫描模块；5、视觉定位模块；6、上位机；7、机器人；71、机器人本体；72、机器人控制柜；8、焊点检测仪器；9、力反馈模块；10、压机舱焊点；11、压机舱。1. Workpiece conveying device; 2. Workpiece; 3. Parts with welding spots on the work piece; 4. Identification code scanning module; 5. Visual positioning module; 6. Host computer; 7. Robot; 71. Robot body; 72. Robot Control cabinet; 8. Solder joint testing instrument; 9. Force feedback module; 10. Compressor cabin solder joint; 11. Compressor cabin.
具体实施方式Detailed ways
下面参照附图来描述本发明的优选实施方式。本领域技术人员应理解的是，这些实施方式仅仅用于解释本发明的技术原理，并非旨在限制本发明的保护范围。Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.
焊接作为一种连接方式，应用广泛，关于焊接质量通常使用焊点检测仪器对焊接质量进行检测。As a connection method, welding is widely used. Regarding welding quality, welding spot inspection instruments are usually used to inspect welding quality.
本发明实施例的第一方面提供了一种线状工件焊点焊接质量检测***，参见图1和图5，该***包括：The first aspect of the embodiments of the present invention provides a welding quality inspection system for the welding spot of a linear workpiece. Referring to Figs. 1 and 5, the system includes:
视觉定位模块5，用以获取带有焊点的工件2的图像并且基于获取到的图像获取焊点在工件2上的位置；The visual positioning module 5 is used to obtain an image of the workpiece 2 with solder joints and to obtain the position of the solder joint on the workpiece 2 based on the acquired image;
焊点检测仪器8；Solder joint inspection instrument 8;
机器人7，基于获取到的焊点在工件2上的位置驱动焊点检测仪器8移动至焊点位置；以及The robot 7 drives the welding spot inspection instrument 8 to move to the welding spot position based on the acquired position of the welding spot on the workpiece 2; and
上位机6，为用户提供输入指令以控制视觉定位模块5、焊点检测仪器8、机器人7和力反馈模块9。The upper computer 6 provides the user with input instructions to control the visual positioning module 5, the solder joint inspection instrument 8, the robot 7 and the force feedback module 9.
本发明实施例的线状工件焊点焊接质量检测***应用时，用户通过上位机6输入指令或预存储的固定程序控制视觉定位模块5、焊点检测仪器8、机器人7和力反馈模块9的工作状态，从而实现焊点焊接质量检测的自动运行。实现焊点全自动识别与检测作业，极大提高了检测效率和检测品质。When the welding quality inspection system of the linear workpiece welding spot of the embodiment of the present invention is applied, the user controls the visual positioning module 5, the welding spot inspection instrument 8, the robot 7 and the force feedback module 9 through the upper computer 6 input instructions or a pre-stored fixed program Working state, so as to realize the automatic operation of welding spot welding quality inspection. Realize the automatic identification and inspection of solder joints, which greatly improves inspection efficiency and inspection quality.
具体地，视觉定位模块5的一种具体方式包括光源、CCD相机和图像采集卡。其中，光源为电光源或其他光源，光源发出的光向工件2照射，使得工件2亮度足够，从而保证检测的准确性；CCD相机为电荷耦合器件(charge coupled device)的简称，CCD相机能够将光线变为电荷并将电荷存储及转移，也可将存储之电荷取出使电压发生变化，因此是理想的CCD相机元件，以其构成的CCD相机具有体积小、重量轻、不受磁场影响、具有抗震动和撞击之特性而被广泛应用；图像采集卡又称图像捕捉卡，是一种可以获取数字化视频图像信息，并将其存储和播放出来的硬件设备，通过图像采集卡将CCD相机获取到的带有焊点的工件2的图像数据进行数字化，以供利用。Specifically, a specific manner of the visual positioning module 5 includes a light source, a CCD camera, and an image capture card. Among them, the light source is an electric light source or other light sources, and the light emitted by the light source illuminates the workpiece 2 so that the brightness of the workpiece 2 is sufficient to ensure the accuracy of detection; the CCD camera is the abbreviation of charge coupled device (charge coupled device). The light becomes electric charge and the charge is stored and transferred. The stored charge can also be taken out to change the voltage. Therefore, it is an ideal CCD camera element. The CCD camera formed by it has small size, light weight, and is not affected by magnetic fields. Anti-vibration and impact characteristics are widely used; image capture card, also known as image capture card, is a hardware device that can obtain digital video image information, store and play it, and capture the CCD camera through the image capture card The image data of the workpiece 2 with solder joints is digitized for use.
需要说明的是，如果将本发明实施例的焊点检测***应用于介质管道(如工件上有焊点的部位3即压机舱的冷凝剂输送管)焊点检测时，焊点检测仪器8的工作原理为：通过吸入焊点附近空气，检测是否存在特定气体(从连接至压缩机的冷凝剂输送管中泄露的冷凝器汽化后的气体)超过浓度阈值来判定焊点处是否有气体泄漏，从而得到焊点处焊接质量评价。具体地，通过焊点检测仪器8对焊点处的气体进行取样，然后通过焊点检测仪器8自带的气体分析模块对取样的气体做分析，如果其中的特定气体超出了浓度阈值(预存储方式)，即说明焊点处发生泄漏，此时，可向上位机6发送泄漏指示，上位机6可通过声音(如报警)和/或图像(如高亮显示)等方式提示用户，也可将该特定气体的浓度数据存储，以供后续跟踪和分析。It should be noted that if the welding spot detection system of the embodiment of the present invention is applied to the welding spot detection of the medium pipeline (such as the welding spot 3 on the workpiece, that is, the condensate conveying pipe of the compressor cabin), the welding spot detection instrument 8 The working principle is: by sucking in the air near the solder joint, detecting whether there is a specific gas (gas after vaporization from the condenser leaking from the condenser pipe connected to the compressor) exceeds the concentration threshold to determine whether there is gas leakage at the solder joint. Thereby, the welding quality evaluation at the welding point can be obtained. Specifically, the gas at the solder joint is sampled by the solder joint inspection instrument 8, and then the sampled gas is analyzed through the gas analysis module of the solder joint inspection instrument 8. If the specific gas in it exceeds the concentration threshold (pre-stored Method), which means that the solder joint is leaking. At this time, the host computer 6 can send a leak indication, and the host computer 6 can prompt the user through sound (such as alarm) and/or image (such as highlighting), or Store the concentration data of the specific gas for subsequent tracking and analysis.
需要说明的是，上位机6可以为配置有操作***的PC主机，也可以为用户操作界面。It should be noted that the host computer 6 may be a PC host configured with an operating system, or may be a user operation interface.
另外，如果将本发明实施例的线状工件焊点焊接质量检测***应用于实心部件的焊点检测时，焊点检测仪器8可选用基于无损检测原理的设备(如超声波检测仪器和射线检测仪器等)，根据实际的应用场景选择合适的无损检测设备，为本领域技术人员所熟知，不再赘述。In addition, if the welding quality inspection system of the linear workpiece welding spot of the embodiment of the present invention is applied to the welding spot inspection of solid parts, the welding spot inspection instrument 8 can choose equipment based on the principle of non-destructive testing (such as ultrasonic inspection instrument and radiographic inspection instrument). Etc.), selecting suitable non-destructive testing equipment according to actual application scenarios is well known to those skilled in the art and will not be repeated.
具体地，机器人7采用多自由度(如六自由度)的机器人7，以提高运动的灵活性，从而利于调节焊点检测仪器8的姿态。机器人7包括机器人控制柜72和机器人本体71，通过机器人控制柜72控制机器人本体71的运动，机器人本体71的手臂的末端安装上述的焊点检测仪器8。配合视觉定位模块5，摄像机获取工件2的视觉信息，为机器人7的作业手臂的动作提供可视化图像。通过视觉定位模块5的结果夹持焊点检测仪器8到达焊点位置进行检测，同时根据力反馈模块9的力觉信号实时调整机器人7姿态。从而稳定、可靠、准确地完成焊点焊接质量的检测。Specifically, the robot 7 adopts the robot 7 with multiple degrees of freedom (for example, six degrees of freedom) to improve the flexibility of movement, thereby facilitating the adjustment of the posture of the solder joint inspection instrument 8. The robot 7 includes a robot control cabinet 72 and a robot body 71. The movement of the robot body 71 is controlled by the robot control cabinet 72. The end of the arm of the robot body 71 is equipped with the aforementioned solder joint inspection instrument 8. In conjunction with the visual positioning module 5, the camera obtains the visual information of the workpiece 2 and provides a visual image for the action of the robot 7's working arm. The result of the visual positioning module 5 is used to clamp the solder joint inspection instrument 8 to the solder joint position for detection, and at the same time, the posture of the robot 7 is adjusted in real time according to the force sense signal of the force feedback module 9. Thereby, the welding quality inspection of the solder joints can be completed stably, reliably and accurately.
具体地，上位机6为用户提供输入指令以控制视觉定位模块5、焊点检测仪器8、机器人7和力反馈模块9的工作状态。上位机6可显示在屏幕上，以完成可视化操作以及将指令、视觉定位模块5获取的图像、焊点检测仪器8检测的焊点质量数据等信息加以显示，本领域技术人员可知的是，该上位机6也可选用控制器，其内部预存储有程序，以自动控制控制视觉定位模块5、焊点检测仪器8、机器人7和力反馈模块9的工作状态。进一步提高了自动化作业程度。Specifically, the host computer 6 provides input instructions for the user to control the working status of the visual positioning module 5, the solder joint inspection instrument 8, the robot 7 and the force feedback module 9. The host computer 6 can be displayed on the screen to complete the visualization operation and display the instructions, the image acquired by the visual positioning module 5, the solder joint quality data detected by the solder joint inspection instrument 8 and other information. Those skilled in the art will know that this The upper computer 6 can also be selected as a controller, which has a pre-stored program inside to automatically control the working status of the visual positioning module 5, the solder joint inspection instrument 8, the robot 7 and the force feedback module 9. Further improve the degree of automation.
需要说明的是本发明实施例的线状工件焊点焊接质量检测***还包括识别码、工件输送装置1(如传送带、传送辊等)和识别码扫描模块4，其中：识别码固定于工件2，并且识别码包含有工件2的型号信息和焊点数量信息，通过识别码扫描模块4扫描识别码获取工件2的型号信息和焊点数量信息，通过扫描所述识别码获取工件2的型号信息并且将工件2上已经检测的焊点的数量与预存储的工件2的焊点数量对比，It should be noted that the welding quality inspection system of the linear workpiece welding spot in the embodiment of the present invention further includes an identification code, a workpiece conveying device 1 (such as a conveyor belt, a conveying roller, etc.), and an identification code scanning module 4, wherein the identification code is fixed to the workpiece 2. , And the identification code contains the model information of the workpiece 2 and the number of solder joints, the model information of the workpiece 2 and the number of solder joints are obtained by scanning the identification code through the identification code scanning module 4, and the model information of the workpiece 2 is obtained by scanning the identification code And compare the number of welded joints on the workpiece 2 with the number of welded joints of the pre-stored workpiece 2,
如果已经检测的焊点的数量等于预存储的工件2的焊点数量，即工件2上的所有焊点均被检测，通过工件2输送装置1将工件2输送至后续工位；If the number of welds detected is equal to the number of welds of the workpiece 2 stored in advance, that is, all the welds on the workpiece 2 are detected, and the workpiece 2 is transported to the subsequent station by the workpiece 2 conveying device 1;
如果已经检测的焊点的数量小于预存储的工件2的焊点数量，即工件2上至少还有一个焊点没有被检测到，机器人7驱动焊点检测仪器8绕焊点旋转，以获取未检测的焊点的焊接质量数据。通过该设置完成自动判断工件2上的所有焊点是否均被检测以及工件2上所有焊点检测完毕后 自动将工件2输送。保证检测的可靠准确的同时进一步提高了自动化作业程度。If the number of welds detected is less than the pre-stored number of welds of the workpiece 2, that is, at least one weld on the workpiece 2 has not been detected, the robot 7 drives the weld inspection instrument 8 to rotate around the weld to obtain the Welding quality data of the inspected solder joints. After this setting is completed, it is automatically judged whether all the solder joints on the workpiece 2 have been detected and the workpiece 2 is automatically transported after the detection of all solder joints on the workpiece 2 is completed. While ensuring the reliability and accuracy of detection, the degree of automation is further improved.
具体地，上述的识别码可以为条形码、二维码等。识别码扫描模块4为条形码扫描枪、二维码扫描枪等。Specifically, the aforementioned identification code may be a barcode, a two-dimensional code, or the like. The identification code scanning module 4 is a barcode scanning gun, a two-dimensional code scanning gun, and the like.
需要说明的是，本发明实施例的线状工件焊点焊接质量检测***还包括力反馈模块9，力反馈模块9安装于焊点检测仪器8与焊点之间，以获取焊点检测仪器8与焊点之间的作用力信息，并且基于获取的作用力信息实时调节焊点检测仪器8的姿态，以使得焊点检测仪器8始终卡紧焊点并且不会破坏焊点、损坏焊点检测仪器8，在机器人7的驱动下焊点检测仪器8绕焊点旋转，以获取焊点的焊接质量数据，力反馈模块9基于二维力传感器，以实时检测焊点检测仪器8的径向和轴向两个方向的作用力(接触用力)，并将该接触用力反馈给机器人7(机器人7控制柜)，机器人7控制柜将该接触用力与预存储在机器人7控制柜的作用力阈值进行比较，如果大于作用力阈值，向机器人7的作业手臂发送“作用力过大”信号并驱动机器人7的作业手臂沿远离焊点的方向运动，直到检测到的作用力位于该作用力阈值内；相反地，如果该作用力小于作用力阈值时，机器人7的作业手臂沿靠近焊点的方向移动，以使得二者之间的作用力增大，直到检测到的作用力位于该作用力阈值内。该设置一方面避免焊点检测仪器8与焊点之间的作用力过小，使得焊点检测仪器8始终卡紧在焊点，保证对焊点的焊接质量完成可靠、准确的检测；另一方面，避免焊点检测仪器8与焊点之间的作用力过大，避免了由于二者之间作用力过大可能发生的对焊点的破坏和对焊点检测仪器8的破坏。It should be noted that the welding quality inspection system for the welding spot of the linear workpiece according to the embodiment of the present invention further includes a force feedback module 9 installed between the welding spot inspection instrument 8 and the welding spot to obtain the welding spot inspection instrument 8 The force information between and the solder joint, and based on the acquired force information, the posture of the solder joint inspection instrument 8 is adjusted in real time, so that the solder joint inspection instrument 8 always clamps the solder joint and does not damage the solder joint or damage the solder joint inspection The instrument 8, driven by the robot 7, the solder joint inspection instrument 8 rotates around the solder joint to obtain the welding quality data of the solder joint. The force feedback module 9 is based on a two-dimensional force sensor to detect the radial sum of the solder joint inspection instrument 8 in real time. Axial force in two directions (contact force), and the contact force is fed back to the robot 7 (robot 7 control cabinet), and the robot 7 control cabinet compares the contact force with the force threshold pre-stored in the robot 7 control cabinet. By comparison, if it is greater than the force threshold, send a signal of "excessive force" to the working arm of the robot 7 and drive the working arm of the robot 7 to move in a direction away from the solder joints until the detected force is within the force threshold; Conversely, if the force is less than the force threshold, the working arm of the robot 7 moves in the direction close to the solder joint, so that the force between the two is increased until the detected force is within the force threshold . On the one hand, this setting prevents the force between the solder joint inspection instrument 8 and the solder joint from being too small, so that the solder joint inspection instrument 8 is always clamped on the solder joint, ensuring reliable and accurate inspection of the solder joint quality; On the one hand, avoid excessive force between the solder joint detection instrument 8 and the solder joint, and avoid damage to the solder joint and damage to the solder joint detection instrument 8 that may occur due to excessive force between the two.
另外，工件2位于图像的中部。该设置尽可能避免了由于视频定位***的视角问题所引起的图像变形，亦即，更准确地对焊点定位，相应地，使得焊点检测仪器8的运动更准确，从而，根本上进一步提高了焊点焊接质量检测的可靠和准确性。In addition, the workpiece 2 is located in the middle of the image. This setting avoids as much as possible the image distortion caused by the viewing angle problem of the video positioning system, that is, the solder joints are positioned more accurately, and accordingly, the movement of the solder joint inspection instrument 8 is more accurate, thereby fundamentally improving This improves the reliability and accuracy of solder joint quality inspection.
通过视觉定位模块5进行基于图像中的焊点的图像坐标系(图像生成时的空间坐标系)生成焊点检测仪器8移动的坐标系。进行两个坐标系的位置变换，以使得焊点检测仪器8的移动更加精确。The visual positioning module 5 generates a coordinate system for the movement of the solder joint inspection instrument 8 based on the image coordinate system of the solder joint in the image (the spatial coordinate system when the image is generated). The position transformation of the two coordinate systems is performed to make the movement of the solder joint inspection instrument 8 more accurate.
另外，本发明实施例的线状工件焊点焊接质量检测***还包括数据存储和/或处理模块，以对焊接质量数据进行存储和/或处理，以作为后期的调取和/或分析的基础。In addition, the welding quality inspection system for the welding point of the linear workpiece according to the embodiment of the present invention further includes a data storage and/or processing module to store and/or process the welding quality data as a basis for later retrieval and/or analysis .
在利用焊点检测仪器8进行检测时，焊点检测仪器8的前段需要卡在焊点上，并绕焊点所在管线(上述工件2的一种具体形式)转动，由于冰箱压机舱中的管线多为铜质，具有一定柔性，易变形损坏，因此在焊点检测仪器8及机器人7手臂末端之间安装力反馈模块9，实时监测焊点检测仪器8与焊点间作用力信息，调整机器人7动作。如果焊点检测仪器8与焊点卡紧后，机器人7控制末端夹持的检测仪器绕焊点旋转100度，动作停留2秒以上，确保焊点周围空气的吸入量。完成一个焊点检测后机器人7继续进行下一个焊点的检测，检测环节操作步骤同上，直至所有焊点检测完成。所有焊点检测完成后，机器人7自动复位到初始位置，等待下一台冰箱到位，同时上位机6处理并存储如果前冰箱所有焊点的检测结果，上传给生产线数据处理***。When the solder joint inspection instrument 8 is used for detection, the front section of the solder joint inspection instrument 8 needs to be stuck on the solder joint and rotate around the pipeline where the solder joint is located (a specific form of the workpiece 2 above), because the pipeline in the compressor cabin of the refrigerator Most of them are copper, which is flexible and easy to deform and damage. Therefore, a force feedback module 9 is installed between the solder joint inspection instrument 8 and the arm end of the robot 7 to monitor the force information between the solder joint inspection instrument 8 and the solder joint in real time, and adjust the robot 7 actions. If the solder joint inspection instrument 8 is clamped to the solder joint, the robot 7 controls the inspection instrument clamped at the end to rotate 100 degrees around the solder joint, and the action stays for more than 2 seconds to ensure the intake of air around the solder joint. After completing the inspection of one solder joint, the robot 7 continues to detect the next solder joint, and the operation steps of the detection link are the same as above, until all the solder joints are inspected. After all solder joints are inspected, the robot 7 automatically resets to the initial position and waits for the next refrigerator to be in place. At the same time, the upper computer 6 processes and stores the detection results of all solder joints of the previous refrigerator and uploads them to the production line data processing system.
本发明实施例第二方面公开了一种线状工件焊点焊接质量检测方法，参见图2，该方法包括步骤：The second aspect of the embodiment of the present invention discloses a method for inspecting the welding quality of a welding spot of a linear workpiece. Referring to FIG. 2, the method includes the steps:
S1、获取带有焊点的工件的图像；S1. Obtain the image of the workpiece with solder joints;
S2、基于步骤S1获取到的图像获取焊点的位置信息；S2, obtain the position information of the solder joint based on the image obtained in step S1;
S3、驱动焊点检测仪器移动至所述焊点的位置；以及S3. Drive the solder joint inspection instrument to move to the position of the solder joint; and
S4、驱动焊点检测仪器绕焊点旋转，以获取焊点的焊接质量数据。S4. Drive the solder joint inspection instrument to rotate around the solder joint to obtain the welding quality data of the solder joint.
需要说明的是，参见图4，本发明实施例的线状工件焊点焊接质量检测方法还包括步骤：基于所述工件上标记的识别码获取获取工件的型号信息，将工件上已经检测的焊点的数量与预存储的工件的焊点数量对比，It should be noted that, referring to FIG. 4, the method for inspecting the welding quality of the welding spot of the linear workpiece according to the embodiment of the present invention further includes the steps of: acquiring the model information of the workpiece based on the identification code marked on the workpiece, and performing the welding on the workpiece. The number of points is compared with the number of solder points of the pre-stored workpiece,
如果已经检测的焊点的数量等于预存储的工件的焊点数量，将工件输送至后续工位；If the number of welds detected is equal to the number of welds of the pre-stored workpiece, transport the workpiece to the subsequent station;
如果已经检测的焊点的数量小于预存储的工件的焊点数量，继续对工件上的未检测焊点执行步骤S4。通过该设置使得该方法可以对不同型号的工件进行自动加工，扩大了适用范围。If the number of detected solder joints is less than the pre-stored number of solder joints of the workpiece, continue to perform step S4 on the undetected solder joints on the workpiece. Through this setting, the method can automatically process different types of workpieces, which expands the scope of application.
需要说明的是，步骤S1中，工件位于所述图像的中部。利于焊点位置的精确定位，为焊点检测仪器的精确驱动提供了基础。It should be noted that in step S1, the workpiece is located in the middle of the image. It is conducive to the precise positioning of the solder joint position and provides a basis for the precise drive of the solder joint inspection instrument.
需要说明的是，本发明实施例的线状工件焊点焊接质量检测方法，参照图3，还包括步骤S31：获取焊点检测仪器与焊点之间的作用力 信息，并且基于获取的作用力信息实时调节焊点检测仪器的姿态，以使得焊点检测仪器始终卡紧焊点并且不会破坏焊点、损坏焊点检测仪器。It should be noted that, referring to FIG. 3, the method for inspecting the welding quality of the solder joint of the linear workpiece according to the embodiment of the present invention further includes step S31: obtaining information on the force between the solder joint inspection instrument and the solder joint, and based on the obtained force The information adjusts the posture of the solder joint inspection instrument in real time so that the solder joint inspection instrument always clamps the solder joint and will not damage the solder joint or damage the solder joint inspection instrument.
需要说明的是，基于图像中的焊点的图像坐标系生成步骤S3中焊点检测仪器移动的坐标系。以方便后续对焊接质量的随时查看和分析。It should be noted that the coordinate system for the movement of the solder joint inspection instrument in step S3 is generated based on the image coordinate system of the solder joint in the image. In order to facilitate subsequent review and analysis of welding quality at any time.
如上所述，本发明的线状工件焊点焊接质量检测***及方法可用于冰箱压机舱(装压缩机的舱室)中的输送冷凝剂的管线的焊点检测，如果用于该具体环境时，参照图4，线状工件焊点焊接质量检测方法包括：扫描识别码→压机舱图像采集→通过视觉定位***获取焊点的位置信息→视觉定位***标定→机器人坐标系与图像坐标系变换(将视觉定位***获取的图像的空间坐标系转换为机器人7运动的空间坐标系)→驱动机器人7夹持焊点检测仪器8向焊点移动→检测焊点检测仪器8与焊点之间的作用力信息→基于该作用力信息判断焊点检测仪器8是否压紧焊点，如果压紧，机器人7驱动焊点检测仪器8绕焊点旋转以检测，如果没有压紧通过机器人7微调，继续检测焊点检测仪器8与焊点之间的作用力信息，直到判断结果为压紧→判断是否全部焊点检测完成，如果判断结果为是，机器人7复位并随后上传检测结果，工件输送装置1(如传送带)将冰箱向后输送，如果判断结果为否，返回并执行“驱动机器人7夹持焊点检测仪器8向焊点移动”。As mentioned above, the welding quality inspection system and method of the linear workpiece welding spot of the present invention can be used for the welding spot inspection of the pipeline conveying the condensing agent in the compressor cabin (compressor compartment) of the refrigerator. If used in this specific environment, Referring to Figure 4, the welding quality inspection method of the welding point of the linear workpiece includes: scanning the identification code → image acquisition of the compressor cabin → obtaining the position information of the welding point through the visual positioning system → calibration of the visual positioning system → transformation of the robot coordinate system and the image coordinate system ( The spatial coordinate system of the image acquired by the visual positioning system is converted to the spatial coordinate system of the robot 7 movement) → drive the robot 7 to clamp the solder joint inspection instrument 8 to move to the solder joint → detect the force between the solder joint inspection instrument 8 and the solder joint Information → Based on the force information, judge whether the solder joint inspection instrument 8 is pressing the solder joint. If it is pressed, the robot 7 drives the solder joint inspection instrument 8 to rotate around the solder joint for inspection. If it is not pressed, the robot 7 will fine-tune the weld and continue to inspect the welding. The information about the force between the point detection instrument 8 and the solder joints until the judgment result is compression → judge whether all solder joints are inspected, if the judgment result is yes, the robot 7 resets and then uploads the detection result, the workpiece conveying device 1 (such as Conveyor belt) transports the refrigerator backward, if the judgment result is no, return and execute "driving the robot 7 to clamp the welding spot inspection instrument 8 to move to the welding spot".
相应地，如果应用于冰箱压机舱中的焊点检测这一具体领域时，执行上述的线状工件焊点焊接质量检测方法的***的构成为：工件2上固定有识别码，通过识别码扫描模块4执行“扫描识别码”，通过视觉定位模块5执行“压机舱图像采集”和“获取焊点的位置信息”，通过预存储在上位机6(或控制器)中的程序执行“视觉***标定”、“机器人7坐标系与图像坐标系变化”和“驱动机器人7夹持焊点检测仪器8向焊点移动”，通过力反馈模块9“检测焊点检测仪器8与焊点之间的作用力信息”并与预存储在上位机6的作用力阈值进行对比，如果位于该作用力阈值内，为压紧，通过机器人7驱动焊点检测仪器8绕焊点旋转，如果超出该作用力阈值，通过机器人7对焊点检测仪器8进行微调，通过预存储在上位机6的程序对一个压机舱中已经检测的焊点数量进行统计并与预存储在上位机6的程序中的该工件2的实际应该检测的焊点数量进行对比以判断焊点检测是否全部完成，如果全部检测完成预存储 在上位机6的程序控制机器人7复位并将检测结果上传至存储器，如果没有全部检测，返回执行“驱动机器人7夹持焊点检测仪器8向焊点移动”，直至该工件2上的焊点全部被检测完。Correspondingly, if it is applied to the specific field of welding spot detection in the compressor cabin of a refrigerator, the system for performing the above-mentioned method for detecting welding quality of the linear workpiece welding spot is composed of: an identification code is fixed on the workpiece 2, and the identification code is scanned Module 4 executes “scanning identification code”, “compressor cabin image acquisition” and “acquisition of solder joint position information” are executed through visual positioning module 5, and “vision system” is executed through a program pre-stored in the host computer 6 (or controller) Calibration", "Robot 7 coordinate system and image coordinate system change" and "driving robot 7 to clamp the welding spot inspection instrument 8 to move to the welding spot", through the force feedback module 9 "inspect the welding spot inspection instrument 8 and the welding spot between the Force information" and compare it with the force threshold pre-stored in the host computer 6. If it is within the force threshold, it is compression. The robot 7 drives the solder joint inspection instrument 8 to rotate around the solder joint. If the force is exceeded Threshold, the welding spot detection instrument 8 is fine-tuned by the robot 7, and the number of welding spots that have been detected in a compressor cabin is counted through the program pre-stored in the upper computer 6 and compared with the workpiece pre-stored in the program of the upper computer 6 2. Compare the actual number of solder joints that should be inspected to determine whether the solder joint inspections are all completed. If all inspections are completed, the program controlled robot 7 pre-stored in the host computer 6 resets and uploads the inspection results to the memory. If not all inspections, return Perform "driving the robot 7 to clamp the welding spot inspection instrument 8 to move to the welding spot" until all the welding spots on the workpiece 2 are inspected.
进一步地，压机舱11中的焊点为压机舱焊点10，图6示出压机舱焊点10为五个的情形，本领域技术人员可知，本发明的线状工件焊点焊接质量检测方法和***能够适用于除冰箱压机舱的焊点检测外的其他领域，在此不做重复说明。Further, the welding points in the compressor cabin 11 are the compressor cabin solder joints 10. FIG. 6 shows a situation where there are five compressor cabin solder joints 10. Those skilled in the art will know that the welding quality inspection method of the linear workpiece solder joints of the present invention And the system can be applied to other fields except the welding spot detection of the compressor cabin of the refrigerator, and it will not be repeated here.
至此，已经结合附图所示的优选实施方式描述了本发明的技术方案，但是，本领域技术人员容易理解的是，本发明的保护范围显然不局限于这些具体实施方式。在不偏离本发明的原理的前提下，本领域技术人员可以对相关技术特征作出等同的更改或替换，这些更改或替换之后的技术方案都将落入本发明的保护范围之内。So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the drawings. However, those skilled in the art will readily understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims (10)

  1. 一种线状工件焊点焊接质量检测***，其特征在于，包括：A welding quality inspection system for the welding spot of a linear workpiece, which is characterized in that it comprises:
    视觉定位模块，用以获取带有焊点的工件的图像并且基于获取到的所述图像获取所述焊点在所述工件上的位置；A visual positioning module for acquiring an image of a workpiece with welding spots and acquiring the position of the welding spot on the workpiece based on the acquired image;
    焊点检测仪器；Solder joint inspection equipment;
    机器人，基于获取到的所述焊点在所述工件上的位置驱动所述焊点检测仪器向所述焊点移动并卡紧所述焊点；A robot, based on the acquired position of the welding spot on the workpiece, driving the welding spot inspection instrument to move to the welding spot and clamping the welding spot;
    在所述机器人的驱动下所述焊点检测仪器绕所述焊点旋转，以获取所述焊点的焊接质量数据；以及Driven by the robot, the solder joint inspection instrument rotates around the solder joint to obtain welding quality data of the solder joint; and
    上位机，为用户提供输入指令以控制所述视觉定位模块、所述焊点检测仪器、所述机器人和所述力反馈模块。The host computer provides input instructions for the user to control the visual positioning module, the solder joint inspection instrument, the robot and the force feedback module.
  2. 根据权利要求1所述的线状工件焊点焊接质量检测***，其特征在于，所述线状工件焊点焊接质量检测***还包括：The welding quality inspection system for the welding spot of the linear workpiece according to claim 1, wherein the welding quality inspection system for the welding spot of the linear workpiece further comprises:
    识别码，固定于所述工件；Identification code, fixed to the workpiece;
    工件输送装置，用于输送所述工件；以及A workpiece conveying device for conveying the workpiece; and
    识别码扫描模块，通过所述识别码获取所述工件的型号信息并且将所述工件上已经检测的所述焊点的数量与预存储的所述工件的焊点数量对比：The identification code scanning module obtains the model information of the workpiece through the identification code and compares the number of solder joints detected on the workpiece with the pre-stored number of solder joints of the workpiece:
    如果已经检测的所述焊点的数量等于所述预存储的所述工件的焊点数量，通过所述工件输送装置将所述工件输送至后续工位；If the number of welded joints that have been detected is equal to the pre-stored number of welded joints of the workpiece, transport the workpiece to a subsequent station through the workpiece conveying device;
    如果已经检测的所述焊点的数量小于所述预存储的所述工件的焊点数量，所述机器人驱动所述焊点检测仪器绕所述焊点旋转，以获取未检测的所述焊点的焊接质量数据。If the number of solder joints that have been detected is less than the pre-stored number of solder joints of the workpiece, the robot drives the solder joint inspection instrument to rotate around the solder joints to obtain the solder joints that are not detected Welding quality data.
  3. 根据权利要求1或2所述的线状工件焊点焊接质量检测***，其特征在于，所述线状工件焊点焊接质量检测***还包括力反馈模块，所述力反馈模块安装于所述焊点检测仪器与所述焊点之间，以获取所述焊点检测仪器与所述焊点之间的作用力信息，并且基于获取的所述作用力信息实时调节所述焊点检测仪器的姿态，以使得所述焊点检测仪器始终卡紧所述焊点并且不会破坏所述焊点、损坏所述焊点检测仪器。The welding quality inspection system for the welding spot of the linear workpiece according to claim 1 or 2, wherein the welding quality inspection system for the welding spot of the linear workpiece further comprises a force feedback module installed in the welding Between the spot detection instrument and the solder joint to obtain information about the force between the solder joint detection instrument and the solder joint, and adjust the posture of the solder joint detection instrument in real time based on the acquired force information , So that the solder joint detection instrument always clamps the solder joint and will not damage the solder joint or damage the solder joint detection instrument.
  4. 根据权利要求1或2所述的线状工件焊点焊接质量检测***，其特征在于，通过所述视觉定位模块进行基于所述图像中的所述焊点的图像坐标系生成所述焊点检测仪器移动的坐标系。The welding quality inspection system of the welding point of the linear workpiece according to claim 1 or 2, wherein the visual positioning module is used to generate the welding point detection based on the image coordinate system of the welding point in the image The coordinate system of the instrument movement.
  5. 根据权利要求1或2所述的线状工件焊点焊接质量检测***，其特征在于，所述线状工件焊点焊接质量检测***还包括数据存储和/或处理模块，以对所述焊接质量数据进行存储和/或处理。The welding quality inspection system for the welding spot of the linear workpiece according to claim 1 or 2, wherein the welding quality inspection system for the welding spot of the linear workpiece further comprises a data storage and/or processing module to check the welding quality Data is stored and/or processed.
  6. 一种线状工件焊点焊接质量检测方法，其特征在于，包括步骤：A method for detecting the welding quality of the welding spot of a linear workpiece, which is characterized in that it comprises the following steps:
    S1、获取带有焊点的工件的图像；S1. Obtain the image of the workpiece with solder joints;
    S2、基于步骤S1获取到的所述图像获取所述焊点的位置信息；S2, acquiring position information of the solder joint based on the image acquired in step S1;
    S3、驱动焊点检测仪器移动至所述焊点的位置；以及S3. Drive the solder joint inspection instrument to move to the position of the solder joint; and
    S4、驱动所述焊点检测仪器绕所述焊点旋转，以获取所述焊点的焊接质量数据。S4. Drive the solder joint inspection instrument to rotate around the solder joint to obtain welding quality data of the solder joint.
  7. 根据权利要求6所述的线状工件焊点焊接质量检测方法，其特征在于，基于所述工件上标记的识别码获取所述工件的型号信息，将所述工件上已经检测的所述焊点的数量与预存储的所述工件的焊点数量对比，The method for inspecting the welding quality of the welding spot of a linear workpiece according to claim 6, wherein the model information of the workpiece is acquired based on the identification code marked on the workpiece, and the welding spot that has been detected on the workpiece Compare the number of solder joints with the pre-stored number of solder joints of the workpiece,
    如果已经检测的所述焊点的数量等于所述预存储的所述工件的焊点数量，将所述工件输送至后续工位；If the number of the detected welding points is equal to the pre-stored number of welding points of the workpiece, transport the workpiece to a subsequent station;
    如果已经检测的所述焊点的数量小于所述预存储的所述工件的焊点数量，继续对所述工件上的未检测焊点执行步骤S4。If the number of solder joints that have been detected is less than the pre-stored number of solder joints of the workpiece, continue to perform step S4 on the undetected solder joints on the workpiece.
  8. 根据权利要求6或7所述的线状工件焊点焊接质量检测方法，其特征在于，所述线状工件焊点焊接质量检测方法还包括步骤S31：The method for inspecting the welding quality of the welding spot of the linear workpiece according to claim 6 or 7, wherein the method for inspecting the welding quality of the welding spot of the linear workpiece further comprises step S31:
    获取所述焊点检测仪器与所述焊点之间的作用力信息，并且基于获取的所述作用力信息实时调节所述焊点检测仪器的姿态，以使得所述焊点检测仪器始终卡紧所述焊点并且不会破坏所述焊点、损坏所述焊点检测仪器。Acquire the force information between the solder joint inspection instrument and the solder joint, and adjust the posture of the solder joint inspection instrument in real time based on the acquired force information, so that the solder joint inspection instrument is always clamped The solder joint does not damage the solder joint or damage the solder joint inspection instrument.
  9. 根据权利要求6或7所述的线状工件焊点焊接质量检测方法，其特征在于，基于所述图像中的所述焊点的图像坐标系生成步骤S3中所述焊 点检测仪器移动的坐标系。The method for inspecting the welding quality of the welding point of a linear workpiece according to claim 6 or 7, characterized in that the coordinate system of the welding point detection instrument moving in step S3 is generated based on the image coordinate system of the welding point in the image system.
  10. 根据权利要求6或7所述的线状工件焊点焊接质量检测方法，其特征在于，对步骤S4获取的所述焊接质量数据进行存储和/或处理。The method for inspecting the welding quality of the welding spot of the linear workpiece according to claim 6 or 7, characterized in that the welding quality data obtained in step S4 is stored and/or processed.
PCT/CN2019/104622 2019-04-26 2019-09-06 Linear system and method for inspecting solder joint quality of workpiece WO2020215585A1 (en)

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