Welding seam scanning method of corrugated plate
A scanning method and corrugated plate technology, applied in welding equipment, welding equipment, arc welding equipment, etc., can solve the problems of high price and limited operation space, reduce scanning cost, improve computing efficiency, reduce scanning cost and scanning effect of time
Active Publication Date: 2021-01-29
上海新时达机器人有限公司
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Problems solved by technology
This kind of sensor can find the position in real time and is suitable for various types of welds, but at the same time it is expensive and has limited operating space
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[0043] In order to make the object, technical solution and advantages of the present invention clearer, various embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that, in each implementation manner of the present invention, many technical details are provided for readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in this application can also be realized.
[0044] In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of thes...
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The invention provides a welding seam scanning method of a corrugated plate. The corrugated plate is located on a base, a welding seam is formed between the corrugated plate and the base, and the method comprises the following steps: scanning the plate surface of the corrugated plate to obtain a plurality of position points; drawing a welding seam track diagram from the plurality of position points obtained by scanning; fitting the front N position points of one position point in the welding seam track diagram into a first straight line, fitting the rear N position points into a second straight line, obtaining an included angle between the first straight line and the second straight line, and recording the included angle as a first inflection angle of the position point, wherein N is larger than or equal to 1; repeating the steps to obtain first inflection angles of all the position points; comparing the first inflection angles of the position points with a preset angle to obtain a plurality of inflection points; making a scanning track at the position, close to the welding seam, of the base, and fitting a welding plane according to the scanning track; and carrying out calculationaccording to the inflection points and the welding plane to obtain the position of the welding seam. The position of the welding seam can be determined only through two times of scanning, the calculation efficiency of the welding seam is improved, and the welding seam scanning cost is reduced.
Description
technical field [0001] The invention relates to the field of welding technology, in particular to a welding seam scanning method for a corrugated plate. Background technique [0002] Corrugated plate welding is widely seen in industrial production, and automatic seam location is a key technology to greatly improve production efficiency and reduce labor and time costs. At present, the common automatic positioning technology in industrial production is based on line laser or surface laser positioning. The main principle is to reconstruct the welding seam structure and identify the welding seam position through line laser or surface laser sensor. This kind of sensor can find the position in real time and is suitable for various types of welds, but at the same time, it is expensive and has limited operating space. Contents of the invention [0003] The object of the present invention is to provide a weld seam scanning method for a corrugated plate, which can reduce scanning c...
Claims
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IPC IPC(8): B23K9/127B23K37/00
CPCB23K9/127B23K37/00
Inventor 高欢朱万辉张慧邓洪洁李大新张敏梁
Owner 上海新时达机器人有限公司