Automated welding equipment

Abstract

An automated welding device is suitable for melting solder onto a workpiece with a bottom pad and a weld plate defining a groove, and includes a first sidewall and a second sidewall. The automated welding device includes a camera unit, a processing unit, and a robotic arm. The processing unit includes a conversion module, a judgment module for determining the initial weld corner position of one of the first sidewalls based on multiple weld bead characteristics, a detection module for detecting a first corner point, a calculation module for calculating a horizontal spacing, and a compensation module for implementing a first compensation mechanism when the horizontal spacing exceeds a first threshold. This automated welding device can automatically determine the position of each weld bead, thus reducing the waste of manpower and time caused by repetitive parameter input by personnel.

Claims

1. An automated welding device suitable for melting a solder into a workpiece to be welded, wherein a welding plate is placed on the bottom and defines an upward-facing slot, and the workpiece to be welded includes a first sidewall connected to the welding plate and a second sidewall connected to the welding plate and located on the opposite side of the first sidewall and defining the slot with the welding plate and the first sidewall, the automated welding device comprising: a camera unit disposed at intervals above the slot and used to capture at least one three-dimensional image of the slot; A processing unit, connected to the imaging unit, includes a conversion module for constructing image information containing multiple weld bead features from the three-dimensional image; a judgment module connected to the conversion module for determining the initial weld corner position of the first sidewall based on the weld bead features of the image information; a detection module connected to the judgment module for detecting a first corner point near the welding plate formed when the solder adheres to the first sidewall; a calculation module connected to the detection module for calculating the horizontal distance from the first corner point to the second sidewall; and a compensation module connected to the calculation module for implementing a first compensation mechanism when the horizontal distance is greater than a first threshold. A robotic arm, connected to the processing unit, is used to complete the welding at the initial weld corner position. After the first corner point is formed, the robotic arm is positioned relative to the first corner point away from the welding plate and on the first sidewall based on the first compensation mechanism, and a subsequent welding procedure is initiated.

2. The automated welding equipment as described in claim 1, wherein, When both the first sidewall and the second sidewall have the solder, the compensation module will adopt a second compensation mechanism to define a lateral distance between the first corner point and a second corner point formed by the solder attached to the second sidewall. The second compensation mechanism is activated when the lateral distance is greater than the first threshold.

3. The automated welding equipment as described in claim 1, wherein, When a second threshold is defined as being less than the first threshold, and after the compensation module completes the first compensation mechanism for the first time, and the horizontal spacing is less than the second threshold, the robotic arm will perform a single-pass straight weld at the horizontal center point between the first corner point and the second side wall.

4. The automated welding equipment as described in claim 1, wherein, Define a second threshold that is less than the first threshold, and after the compensation module completes the first compensation mechanism for the first time, and the horizontal spacing is between the first threshold and the second threshold, the robotic arm will perform a single-pass oscillating arc welding at the horizontal center point between the first corner point and the second side wall.

5. The automated welding equipment as described in claim 1, wherein, If a second threshold is defined as being less than the first threshold, and after the compensation module completes the first compensation mechanism for the first time, and the horizontal spacing is still greater than the first threshold, the robotic arm will perform a set of two welds at the horizontal center point between the first corner point and the second side wall.

6. The automated welding equipment as described in claim 2, wherein, If a second threshold is defined to be less than the first threshold, and after the compensation module completes the first second compensation mechanism, and the lateral spacing is less than the second threshold, the robotic arm will perform a single-pass straight weld at the horizontal center point between the first corner point and the second corner point.

7. The automated welding equipment as described in claim 2, wherein, Define a second threshold that is less than the first threshold, and after the compensation module completes the first second compensation mechanism, and the lateral spacing is between the first threshold and the second threshold, the robotic arm will perform a single-pass oscillating arc welding at the horizontal center point between the first corner point and the second corner point.

8. The automated welding equipment as described in claim 2, wherein, If a second threshold is defined as being less than the first threshold, and after the compensation module completes the first second compensation mechanism, and the lateral spacing is greater than the first threshold, the robotic arm will perform a set of two welds at the horizontal center point between the first corner point and the second corner point.

9. The automated welding equipment as claimed in claim 1, wherein, The processing unit also includes an information connection to the compensation module and a confirmation module for detecting whether the first sidewall and the second sidewall of each layer have been successfully welded.

10. The automated welding equipment as claimed in claim 1, wherein, The processing unit also includes a full-material module connected to the calculation module and the compensation module. The full-material module can detect a depth distance defined between the top of the slot and the solder in the vertical direction. When the depth distance is less than a first preset value, it is defined as a first state, and when the depth distance is less than a second preset value, it is defined as a second state.

11. The automated welding equipment as claimed in claim 10, wherein, In this second state, the robotic arm performs a surface welding.

12. The automated welding equipment as described in claim 1 or 2 further includes a signal connection between the imaging unit and the processing unit, and has multiple operation units for controlling interface operation information of the robotic arm.

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