A weld seam trajectory recognition positioning method and device

Abstract

The application discloses a kind of weld seam trajectory identification positioning method and device, its method includes: according to Euler distance formula to each profile point in the acquisition weld seam surface profile set is filtered, obtains weld seam surface profile boundary set;Each element of weld seam surface profile boundary set is input according to the corner point judgment model established by angle adjustment factor and is iterated, and obtains weld seam surface corner point set;Every 3 adjacent corner points are connected to form several planes, and the normal vector of each plane is combined to obtain weld seam cross section trajectory profile center point;According to the normal vector of the weld seam trajectory plane of two adjacent corner points and center point, combined with trigonometric function formula, the bidirectional angle deviation of welding torch and weld seam trajectory is obtained;Based on weld seam cross section trajectory profile center point and bidirectional angle deviation, the positioning adjustment of weld seam trajectory is completed.The application can avoid manual adjustment when welding in gas-electric vertical welding equipment, reduce the difficulty of manual work, and improve the fault tolerance of trajectory identification.

Description

Technical Field

[0001] This invention relates to the field of welding and trajectory recognition technology, and in particular to a method and apparatus for weld trajectory recognition and positioning. Background Technology

[0002] Gas-shielded vertical welding is a gas-shielded arc welding method developed from conventional gas metal arc welding and electroslag welding.

[0003] Currently, most gas-electric vertical welding applications employ a human-machine collaborative approach. Humans are primarily responsible for transporting construction specimens, clamping equipment, and positioning the starting point for welding. The welding process mainly relies on mechanical equipment for positioning, with the gas-electric vertical welding equipment moving along a specific track while manual fine-tuning completes the welding process.

[0004] Gas-fired vertical welding employs a combination of manual fine-tuning and mechanical positioning, resulting in a relatively stable and reliable welding process. With timely manual intervention, the welding work can be completed successfully. However, in existing technologies, when issues such as two-dimensional offset and angular rotation occur in the weld, manual adjustment of the welding equipment is required to reposition the starting point of the gas-fired vertical welding. This process demands skilled operators with high levels of expertise and consumes significant human resources.

[0005] Therefore, there is an urgent need for a technical solution that can automatically identify and locate the weld trajectory during gas-electric vertical welding. Summary of the Invention

[0006] (a) Technical problems to be solved

[0007] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a weld trajectory identification and positioning method and device, which solves the technical problem of manual fine-tuning for positioning during the welding process of gas-electric vertical welding equipment.

[0008] (II) Technical Solution

[0009] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0010] In a first aspect, embodiments of the present invention provide a weld seam trajectory identification and positioning method, which is applied to a gas-electric vertical welding equipment equipped with a displacement adjustment motor and an angle adjustment motor, and the method includes:

[0011] Based on the Euler distance calculation formula, each contour point in the obtained weld surface contour set is filtered to obtain the weld surface contour boundary set.

[0012] A corner point judgment model is established based on the obtained angle adjustment factor containing weld chamfer information, weld contour edge missing information and weld offset information. Each element of the weld surface contour boundary set is input into the corner point judgment model for iterative processing to obtain the weld surface corner point set.

[0013] Connect every three adjacent weld surface corner points in pairs to form several planes, and combine the normal vector of each plane to find the unique center point of the plane as the center point of the weld cross section trajectory profile.

[0014] Based on the normal vectors of the weld trajectory plane containing the corner points of two adjacent weld surfaces and the center point of the weld cross-section trajectory contour, the bidirectional angular deviation between the welding torch and the weld trajectory is calculated using trigonometric function formulas.

[0015] Based on the center point of the weld cross-section trajectory contour and the bidirectional angular deviation, the displacement adjustment motor and the angle adjustment motor are controlled to complete the positioning adjustment of the weld trajectory.

[0016] Optionally, before filtering each contour point in the obtained weld surface contour set according to the Euler distance calculation formula to obtain the weld surface contour boundary set, the method further includes:

[0017] The weld surface is scanned in a 3D pattern using a pre-set vision sensor, and a three-dimensional coordinate system is constructed with the vision sensor as the base point to obtain several sampling coordinates P. i (X i Y i Z i );

[0018] Calculate the change in the horizontal coordinate in the sampled coordinates:

[0019] △X=∣X i+1 -X i |=V x *△t (1)

[0020] Among them, V x Δt is the lateral scanning speed of the vision sensor, Δt is the scanning period, and i is the number of sampling coordinates;

[0021] Calculate the change in the vertical coordinate in the sampled coordinate system:

[0022] △Y=∣Y i+1 -Y i |=V y *△t (2)

[0023] Among them, V y Δt represents the longitudinal scanning speed of the vision sensor, and Δt represents the scanning period.

[0024] Based on the height coordinate value in the sampling coordinates, which is the distance from the coordinate base point to the scanning light point of the vision sensor, the change in height coordinate in the sampling coordinates is calculated:

[0025] △Z=∣Z i+1 -Z i |=H (3)

[0026] Where H is the weld height;

[0027] Based on the sampling point judgment condition formula (4), determine whether each sampling coordinate is a sampling point;

[0028] |X i+1 -X i |>0∪∣Y i+1 -Y i | > 0 and △Z = |Z i+1 -Z i |>0.5τH (4)

[0029] Where τ is the minimum adjustment factor and H is the weld height;

[0030] The height coordinate values ​​of every two consecutive sampling points are compared, and the sampling point with the larger height coordinate value is determined as the weld surface contour set element.

[0031] Optionally, each contour point in the obtained weld surface contour set is filtered according to the Euler distance calculation formula to obtain the weld surface contour boundary set, which includes:

[0032] Based on the Euler distance calculation formula (5), the Euler distance S between every two consecutive contour points is calculated:

[0033]

[0034] Based on formula (6), the Euler distance threshold ξ is calculated:

[0035]

[0036] Where ψ is the scanning speed fluctuation factor of the vision sensor;

[0037] According to formula (7), the scanning speed fluctuation factor ψ of the vision sensor is obtained;

[0038]

[0039] Among them, V min The minimum speed, V, of the visual sensor scanning process max The maximum speed of the visual sensor scanning process;

[0040] Determine whether the Euler distance between any two consecutive contour points is less than the Euler distance threshold;

[0041] If the Euler distance between any two consecutive contour points is less than the Euler distance threshold, then the two consecutive contour points are determined to be elements of the weld surface contour boundary set.

[0042] If the Euler distance between any two consecutive contour points is not less than the Euler distance threshold, then the two consecutive contour points are determined not to be elements of the weld surface contour boundary set.

[0043] Optionally, a corner point judgment model is established based on the obtained angle adjustment factor containing weld chamfer information, weld contour edge missing information, and weld offset information. Each element of the weld surface contour boundary set is input into the corner point judgment model for iterative processing to obtain the weld surface corner point set, which includes:

[0044] The weld surface contour boundary set is composed of all contour points, grouped into sets of three adjacent contour points, with the three-dimensional coordinates being P. j (X j ,Y j Z j ), P j+1 (X j+1 ,Y j+1 Z j+1 ), P j+2 (X j+2 ,Y j+2 Z j+2 );

[0045] Using formulas (8), (9), (10), and (11), the difference in the abscissa of three adjacent contour points is calculated respectively. ordinate difference

[0046]

[0047]

[0048] exist as well as Under the condition that all values ​​are 0, perform the condition judgment of formula (12);

[0049]

[0050] in, Angle adjustment factor;

[0051] If the condition of formula (12) is met, then determine P. j+1 The corner points of the weld surface are the elements of the weld surface corner point set.

[0052] Optionally, before calculating the bidirectional angular deviation between the welding torch and the weld trajectory based on the normal vectors of the weld trajectory plane containing the corner points of two adjacent weld surfaces and the center point of the weld cross-section trajectory contour, and combining this with trigonometric function calculation formulas, the method further includes:

[0053] Obtain the center point O(X1, Y1, Z1) of the weld cross-section trajectory contour;

[0054] Take two adjacent weld surface corner points from the set of weld surface corner points, namely B(X1-n, Y1+m, Z). b ) and C(X1+n, Y1+m, Z c );

[0055] Establish a three-dimensional coordinate system with the center point O(X1, Y1, Z1) of the weld cross-section trajectory as the origin;

[0056] Obtain an auxiliary point A(X1, Y1-m, Z) that is in the same plane as weld surface corner point B, weld surface corner point C, and the center point O of the weld cross-section trajectory contour. a ) and auxiliary point D(X1, Y1+m, Z) d );

[0057] Based on formula (13), the normal vector λ of the plane containing auxiliary point A, auxiliary point D, weld surface corner point B, weld surface corner point C, and the center point O of the weld cross-section trajectory contour is obtained:

[0058]

[0059] The distance between auxiliary point A and auxiliary point D is 2m, and the distance between weld surface corner point B and weld surface corner point C is 2n.

[0060] Optionally, the bidirectional angular deviation between the welding torch and the weld trajectory is calculated using the normal vectors of the weld trajectory plane containing the corner points of two adjacent weld surfaces and the center point of the weld cross-section trajectory contour, combined with trigonometric function calculation formulas.

[0061] Based on the fact that the product of the normal vector of the weld trajectory plane and any vector of the weld trajectory plane is 0, the geometric relationships of the height coordinates of the center point O of the weld cross-section trajectory contour, auxiliary point A, weld surface corner point B, weld surface corner point C, and auxiliary point A are obtained:

[0062]

[0063]

[0064] Based on the horizontal projection of the line connecting auxiliary point A and auxiliary point D and the horizontal projection of the line connecting weld surface corner point B and weld surface corner point C, the intention of the weld's transverse deflection angle and the intention of the weld's longitudinal deflection angle are obtained.

[0065] Based on the trigonometric function calculation formula (16), the transverse deflection angle α of the weld is obtained:

[0066]

[0067] Based on the trigonometric function calculation formula (17), the longitudinal deflection angle β of the weld is obtained:

[0068]

[0069] In a second aspect, embodiments of the present invention provide a weld seam trajectory identification and positioning device, comprising:

[0070] A controller that performs the weld trajectory recognition method for gas-electric vertical welding described above;

[0071] A vision sensor connected to the controller is used to scan the weld surface and acquire several sampling points;

[0072] The displacement adjustment component connected to the controller is used to adjust the displacement trajectory of the welding torch based on the center point information of the weld cross-section trajectory profile of the controller.

[0073] An angle adjustment component connected to the controller is used to adjust the welding angle of the welding torch based on the bidirectional angle deviation information between the welding torch and the weld trajectory of the controller.

[0074] A welding assembly connected to the controller is used to weld seams in accordance with control commands from the controller.

[0075] Optionally, the displacement adjustment assembly includes: a lateral displacement slide, a longitudinal displacement slide, a lateral displacement motor, and a longitudinal displacement motor;

[0076] The lateral displacement slide is set on the longitudinal displacement slide, and the lateral displacement slide is equipped with a vision sensor and welding components.

[0077] A lateral displacement motor is installed on one side of the lateral displacement slide to drive the vision sensor and welding components to move laterally.

[0078] The longitudinal displacement motor is located on one side of the longitudinal displacement slide and is used to drive the vision sensor and welding assembly to move longitudinally.

[0079] The angle adjustment assembly includes: a horizontal rotation motor, a vertical rotation motor, and a rotation connecting block;

[0080] Both the horizontal and vertical rotary motors are connected to the welding assembly via rotary connecting blocks, and are used to drive the welding assembly to rotate horizontally and vertically.

[0081] Optionally, the welding assembly includes: a cooling copper block, a welding torch, a front rail connecting block, a rear rail connecting block, and a lifting rail;

[0082] Cooling copper blocks are placed on one side of the weld to reduce the temperature at the weld during welding.

[0083] The welding torch is mounted on the transverse displacement slide and is used for welding the weld seam;

[0084] The front rail connecting block is connected to the longitudinal displacement slide and the lifting rail respectively, and is used to drive the longitudinal displacement slide to climb in the direction of the lifting rail, thereby driving the welding torch to climb in the direction of the lifting rail;

[0085] The rear track connecting block is fixedly connected to the rotating connecting block and the lifting track respectively, and is used to drive the lifting track to rotate, thereby driving the welding gun to rotate.

[0086] Optionally, it includes: positioning fixtures and lifting fixtures;

[0087] The positioning fixture includes: a positioning body, a clamping block, a clamping slide, a thrust screw, and a support plate. The clamping block is equipped with a thrust screw and is connected to the positioning body through the clamping slide. The support plate is equipped with lifting holes and is connected to the positioning body and the rotating connecting block respectively.

[0088] The lifting fixture includes: a fixed mechanism, a rotating slide rail, a rotating mechanism, a translation slide rail, a lifting mechanism, and a lifting hook, all connected in sequence.

[0089] (III) Beneficial Effects

[0090] The beneficial effects of this invention are as follows: This invention adopts a technical solution for positioning and adjusting the welding torch of an electric vertical welding equipment relative to the workpiece to be welded by using trajectory recognition that includes the center point of the weld cross-section trajectory contour and bidirectional angular deviation. This solution can adjust the positioning of the electric vertical welding equipment based on the weld trajectory recognition results, avoiding manual adjustment and reducing the difficulty of manual work. In particular, when obtaining the center point of the weld cross-section trajectory contour, the error tolerance of trajectory recognition is improved by using angle adjustment factors for information screening. Attached Figure Description

[0091] Figure 1 This is a flowchart illustrating a weld seam trajectory identification and positioning method according to an embodiment of the present invention.

[0092] Figure 2 A logic block diagram for filtering weld surface contour sampling points provided in an embodiment of the invention;

[0093] Figure 3 A logic block diagram for screening weld surface corner points provided in an embodiment of the invention;

[0094] Figure 4A schematic diagram of the weld trajectory provided for one embodiment of the invention;

[0095] Figure 5 A schematic diagram of lateral deflection based on the weld trajectory plane provided for an embodiment of the invention;

[0096] Figure 6 A schematic diagram of directional deflection based on a weld trajectory plane provided for an embodiment of the invention;

[0097] Figure 7 An overall assembly embodiment drawing of a weld seam trajectory recognition and positioning device is provided for one embodiment of the invention;

[0098] Figure 8 An embodiment of the invention provides an assembly and positioning diagram of a gas-electric vertical welding device and a box girder to be welded;

[0099] Figure 9 A schematic diagram of the structure of a gas-electric vertical welding device provided for an embodiment of the invention;

[0100] Figure 10 A partial detailed structural schematic diagram of a gas-electric vertical welding device provided for an embodiment of the invention;

[0101] Figure 11 A schematic diagram of the positioning tooling provided in one embodiment of the invention.

[0102] [Explanation of Labels in the Attached Image]

[0103] 101: Fixed mechanism; 102: Rotary slide rail; 103: Rotating mechanism; 104: Translation slide rail; 105: Lifting mechanism; 106: Lifting hook;

[0104] 200: Gas-electric vertical welding equipment; 210: Vision sensor; 221: Lateral displacement slide; 222: Longitudinal displacement slide; 223: Lateral displacement motor; 224: Longitudinal displacement motor; 231: Lateral rotary motor; 232: Longitudinal rotary motor; 233: Rotary connecting block; 241: Cooling copper block; 242: Welding torch; 243: Front track connecting block; 244: Rear track connecting block; 245: Lifting track; 250: Positioning fixture; 251: Positioning body; 252: Clamping block; 253: Clamping slide; 254: Thrust screw; 255: Support plate;

[0105] 300: Box girder to be welded. Detailed Implementation

[0106] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0107] refer to Figure 1-11As shown in the embodiment of the present invention, a weld trajectory identification and positioning method and apparatus are proposed. The method is applied to a gas-electric vertical welding equipment 200 equipped with a displacement adjustment motor and an angle adjustment motor. The method includes: filtering each contour point in the obtained weld surface contour set according to the Euler distance calculation formula to obtain a weld surface contour boundary set; establishing a corner point judgment model based on the obtained angle adjustment factor containing weld chamfer information, weld contour edge missing information, and weld offset information, and inputting each element of the weld surface contour boundary set into the corner point judgment model for iterative processing to obtain a weld surface corner point set; connecting every three adjacent weld surface corner points in pairs to form several planes, and obtaining a unique plane center point as the weld cross-section trajectory contour center point by combining the normal vector of each plane; calculating the bidirectional angle deviation between the welding torch 242 and the weld trajectory based on the normal vector of the weld trajectory plane formed by two adjacent weld surface corner points and the plane center point, combined with the trigonometric function calculation formula; and controlling the displacement adjustment motor and the angle adjustment motor to complete the positioning adjustment of the weld trajectory based on the weld cross-section trajectory contour center point and the bidirectional angle deviation.

[0108] This invention employs a trajectory recognition method that includes the center point of the weld cross-section trajectory contour and bidirectional angular deviation to complete the positioning adjustment of the welding torch 242 of the gas-electric vertical welding equipment 200 relative to the workpiece to be welded. This method can adjust the positioning of the electric vertical welding equipment based on the weld trajectory recognition results, avoiding manual adjustment and reducing the difficulty of manual work. In particular, when obtaining the center point of the weld cross-section trajectory contour, the error tolerance of the trajectory recognition is improved by using an angle adjustment factor for information filtering.

[0109] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0110] Specifically, for the gas-electric vertical welding implementation of the box girder to be welded (300mm), this invention provides a weld trajectory identification and positioning method, the method comprising:

[0111] S1. Before obtaining the weld surface contour boundary set, each contour point in the obtained weld surface contour set is screened according to the Euler distance calculation formula.

[0112] Furthermore, prior to step S1, the following steps are also included:

[0113] F1. Perform a zigzag-shaped scan on the weld surface via the pre-set vision sensor 210, construct a three-dimensional coordinate system with the vision sensor 210 as the base point, and obtain a plurality of sampling coordinates P i (X i , Y i , Z i ).

[0114] According to the known weld surface profile features of the box girder 300 to be welded, the X-axis and Y-axis coordinates in the sampling coordinates change continuously when the vision sensor 210 performs sampling, and the Z-axis coordinate will mutate due to the weld height when the weld profile is sampled and scanned. Since the vision sensor 210 performs a zigzag-shaped scan on the weld surface, the coordinate variations ΔX and ΔY during scanning along the X-axis and Y-axis are positively correlated with the scanning speed.

[0115] F2. Calculate the transverse coordinate variation in the sampling coordinates:

[0116] ΔX=|X i+1 -X i |=V x *Δt (1)

[0117] where V x is the transverse scanning speed of the vision sensor 210, Δt is the scanning period, and i is the number of sampling coordinates.

[0118] F3. Calculate the longitudinal coordinate variation in the sampling coordinates:

[0119] ΔY=|Y i+1 -Y i |=V y *Δt (2)

[0120] where V y is the longitudinal scanning speed of the vision sensor 210, and Δt is the scanning period.

[0121] F4. According to the height coordinate value in the sampling coordinates being the distance value from the coordinate base point to the scanning light spot of the vision sensor 210, calculate the height coordinate variation in the sampling coordinates:

[0122] ΔZ=|Z i+1 -Z i |=H (3)

[0123] where H is the weld height.

[0124] F5. Judge whether each sampling coordinate is a sampling point according to the sampling point judgment condition formula (4);

[0125] |X i+1 -X i |>0∪|Y i+1 -Yi | > 0 and △Z = |Z i+1 -Z i |>0.5τH (4)

[0126] Where τ is the minimum adjustment factor, specifically the minimum depth of the beveling of the weld profile; H is the weld height.

[0127] F6. Compare the height coordinate values ​​of every two consecutive sampling points, and determine the sampling point with the larger height coordinate value as the weld surface contour set element. Specifically, if Z... i+1 -Z i If >0, then P can be determined. i+1 Z is the contour point. i+1 -Z i If <0, then P can be determined. i These are the sampling point contour points.

[0128] S2. Based on the Euler distance calculation formula, each contour point in the weld surface contour set is screened to obtain the weld surface contour boundary set.

[0129] Further, step S1 includes:

[0130] S11. Based on the Euler distance calculation formula (5), calculate the Euler distance S between every two consecutive contour points:

[0131]

[0132] S12. According to formula (6), calculate the Euler distance threshold ξ:

[0133]

[0134] Wherein, ψ is the scanning speed fluctuation factor of the vision sensor 210, which can weaken the influence of abnormal scanning speed of the vision sensor 210 during the scanning process.

[0135] S13. According to formula (7), calculate the scanning speed fluctuation factor ψ of the vision sensor 210:

[0136]

[0137] Among them, V min The minimum speed, V, of the scanning process of the vision sensor 210 max The maximum speed of the scanning process of the vision sensor 210.

[0138] S14. Determine whether the Euler distance between any two consecutive contour points is less than the Euler distance threshold.

[0139] S15a. If the Euler distance between any two consecutive contour points is less than the Euler distance threshold, then the two consecutive contour points are determined to be elements of the weld surface contour boundary set.

[0140] S16b. If the Euler distance between any two consecutive contour points is not less than the Euler distance threshold, then the two consecutive contour points are determined not to be elements of the weld surface contour boundary set.

[0141] The weld surface profile set is an unordered set. In order to ensure the setting of the oscillation parameters for welding and the calibration of the starting point of the welding gun 242, the disordered set of the weld surface profile of the box girder 300 to be welded needs to be sorted and summarized and connected to form the boundary features of the weld surface profile of the box girder 300 to be welded. Therefore, it is necessary to determine whether the sampling points of the weld surface profile set in step S1 are adjacent.

[0142] S2. Based on the obtained information including weld chamfer information, weld contour edge missing information, and weld offset information, an angle adjustment factor is established to create a corner point judgment model. Each element of the weld surface contour boundary set is input into the corner point judgment model for iterative processing to obtain the weld surface corner point set.

[0143] Further, step S2 includes:

[0144] S21. Combine all contour points of the weld surface contour boundary set into groups of three adjacent contour points, with the three-dimensional coordinates as P. j (X j ,Y j Z j ), P j+1 (X j+1 ,Y j+1 Z j+1 ), P j+2 (X j+2 ,Y j+2 Z j+2 ).

[0145] S22. Using formulas (8), (9), (10), and (11), calculate the difference in the abscissas of three adjacent contour points. ordinate difference

[0146]

[0147]

[0148] S23, in as well as Under the condition that all values ​​are 0, perform the conditional judgment of formula (12). as well as When both are 0, Pj+1 These are candidate points for corner points on the weld surface.

[0149]

[0150] in, For angle adjustment factor, Related to the machining conditions of the box girder 300 to be welded. Factors such as chamfers, missing contour edges, and machining path deviations in the weld seam of the box girder 300 to be welded are set as angle adjustment factors.

[0151] S24. If the conditions of formula (12) are met, determine P. j+1 The corner points of the weld surface are the elements of the weld surface corner point set.

[0152] S3. Connect every three adjacent weld surface corner points in pairs to form several planes. Combine the normal vector of each plane to find the unique center point of the plane as the center point of the weld cross section trajectory.

[0153] The geometric characteristics of the plane formed by the corner points of adjacent weld surfaces and the normal vector of the plane (the product is 0), combined with the geometric relationship between the corner points (the corner points and the two straight lines formed by the corner points and their adjacent points are perpendicular), can solve for the unique center point of the plane. This center point of the plane is used as the center point of the weld section trajectory profile to determine the displacement trajectory of the welding torch 242.

[0154] S4. Based on the normal vectors of the weld trajectory plane where the corner points of two adjacent weld surfaces and the center point of the weld cross-section trajectory contour are located, and combined with the trigonometric function calculation formula, calculate the bidirectional angular deviation between the welding torch and the weld trajectory.

[0155] Furthermore, prior to step S4, the following steps are also included:

[0156] G1, Reference Figure 4 As shown, obtain the center point O(X1, Y1, Z1) of the weld cross-section trajectory contour.

[0157] G2. Select two adjacent weld surface corner points from the set of weld surface corner points, namely B(X1-n, Y1+m, Z). b ) and C(X1+n, Y1+m, Z c ).

[0158] G3. Establish a three-dimensional coordinate system with the center point O(X1, Y1, Z1) of the weld cross-section trajectory as the origin.

[0159] G4. Obtain an auxiliary point A(X1, Y1-m, Z) that is on the same plane as weld surface corner point B, weld surface corner point C, and the center point O of the weld cross-section trajectory contour. a ) and auxiliary point D(X1, Y1+m, Z) d ).

[0160] G5. Based on formula (13), obtain the normal vector λ of the plane containing auxiliary point A, auxiliary point D, weld surface corner point B, weld surface corner point C, and the center point O of the weld cross section trajectory contour.

[0161]

[0162] The distance between auxiliary point A and auxiliary point D is 2m, and the distance between weld surface corner point B and weld surface corner point C is 2n.

[0163] Further, step S4 includes:

[0164] S41. Based on the fact that the product of the normal vector of the weld trajectory plane and any vector of the weld trajectory plane is 0, obtain the geometric relationship between the center point O of the weld cross-section trajectory contour, auxiliary point A, weld surface corner point B, weld surface corner point C, and the height coordinates of auxiliary point A:

[0165]

[0166]

[0167] S42, Reference Figure 5-6 As shown, based on the horizontal projection of the line connecting auxiliary point A and auxiliary point D and the horizontal projection of the line connecting weld surface corner point B and weld surface corner point C, the intention of the weld's transverse deflection angle and the intention of the weld's longitudinal deflection angle are obtained.

[0168] S43. Based on the trigonometric function calculation formula (16), calculate the transverse deflection angle α of the weld:

[0169]

[0170] Based on the trigonometric function calculation formula (17), the longitudinal deflection angle β of the weld is obtained:

[0171]

[0172] S5. Based on the center point of the weld cross-section trajectory contour and the bidirectional angle deviation, control the displacement adjustment motor and the angle adjustment motor to complete the positioning adjustment of the weld trajectory.

[0173] On the other hand, reference Figure 7-11 As shown, the present invention also discloses a weld seam trajectory identification and positioning device, which includes:

[0174] The controller that performs the weld trajectory recognition method for gas-electric vertical welding described above.

[0175] The vision sensor 210, connected to the controller, is used to scan the weld surface to acquire several sampling points.

[0176] The displacement adjustment component connected to the controller is used to adjust the displacement trajectory of the welding torch 242 based on the center point information of the weld cross-section trajectory profile of the controller.

[0177] An angle adjustment component connected to the controller is used to adjust the welding angle of the welding torch 242 based on the bidirectional angle deviation information between the welding torch 242 and the weld trajectory.

[0178] A welding assembly connected to the controller is used to weld seams according to the controller's control commands.

[0179] The controller includes:

[0180] The weld surface contour point acquisition module is used to acquire a set of weld surface contours.

[0181] The weld surface contour point filtering module is used to filter each contour point in the weld surface contour set according to the Euler distance calculation formula to obtain the weld surface contour boundary set.

[0182] The corner point judgment model building module is used to build a corner point judgment model based on the angle adjustment factor.

[0183] The weld surface angle filtering module is used to input each element of the weld surface contour boundary set into the corner point judgment model for iterative processing to obtain the weld surface corner point set.

[0184] The weld cross-section trajectory contour center point acquisition module is used to connect every three adjacent weld surface corner points in pairs to form several planes, and combine the normal vector of each plane to obtain a unique plane center point as the weld cross-section trajectory contour center point.

[0185] The bidirectional angle deviation acquisition module is used to calculate the bidirectional angle deviation between the welding torch 242 and the weld trajectory based on the normal vector of the weld trajectory plane formed by the corner points of two adjacent weld surfaces and the center point of the plane, combined with trigonometric function calculation formulas.

[0186] The welding torch 242 positioning adjustment module is used to control the displacement adjustment motor and the angle adjustment motor to complete the positioning adjustment of the weld trajectory based on the center point of the weld cross-section trajectory contour and the bidirectional angular deviation.

[0187] Furthermore, the displacement adjustment assembly includes: a lateral displacement slide 221, a longitudinal displacement slide 222, a lateral displacement motor 223, and a longitudinal displacement motor 224. The lateral displacement slide 221 is disposed on the longitudinal displacement slide 222, and a vision sensor 210 and a welding assembly are mounted on the lateral displacement slide 221. The lateral displacement motor 223 is disposed on one side of the lateral displacement slide 221 and is used to drive the vision sensor 210 and the welding assembly to perform lateral displacement. The longitudinal displacement motor 224 is disposed on one side of the longitudinal displacement slide 222 and is used to drive the vision sensor 210 and the welding assembly to perform longitudinal displacement.

[0188] The angle adjustment assembly includes a horizontal rotation motor 231, a vertical rotation motor 232, and a rotation connecting block 233. Both the horizontal rotation motor 231 and the vertical rotation motor 232 are connected to the welding assembly via the rotation connecting block 233, and are used to drive the welding assembly to perform horizontal and vertical angle rotation.

[0189] Furthermore, the welding assembly includes: a cooling copper block 241, a welding torch 242, a front track connecting block 243, a rear track connecting block 244, and a lifting track 245; the cooling copper block 241 is disposed on one side of the weld seam to reduce the temperature at the weld seam during welding; the welding torch 242 is disposed on the transverse displacement slide 221 for welding the weld seam; the front track connecting block 243 is connected to the longitudinal displacement slide 222 and the lifting track 245 respectively, for driving the longitudinal displacement slide 222 to climb in the direction of the lifting track 245, thereby driving the welding torch 242 to climb in the direction of the lifting track 245; the rear track connecting block 244 is fixedly connected to the rotating connecting block 233 and the lifting track 245 respectively, for driving the lifting track 245 to rotate, thereby driving the welding torch 242 to rotate.

[0190] Furthermore, the weld seam trajectory recognition and positioning device also includes a positioning fixture 250 and a lifting fixture. The positioning fixture 250 includes a positioning body 251, a clamping block 252, a clamping slide rail 253, a thrust screw 254, and a support plate 255. The clamping block 252 is equipped with a thrust screw 254 and is connected to the positioning body 251 via the clamping slide rail 253. The support plate 255 has lifting holes and is connected to both the positioning body 251 and the rotating connecting block 233. The lifting fixture includes a fixing mechanism 101, a rotating slide rail 102, a rotating mechanism 103, a translation slide rail 104, a lifting mechanism 105, and a lifting hook 106, connected in sequence.

[0191] In one specific embodiment, taking the gas-electric vertical welding of a box girder 300 as an example, after the welding begins and the fixing mechanism 101 is confirmed to be accurate and reliable, the box girder 300 is manually transported to the equipment's reach. The rotation mechanism 103 of the translation slide rail 104 is adjusted so that the gas-electric vertical welding equipment 200 can cover as much of the vertical weld seam of the box girder 300 as possible. The translation slide rail 104 and the lifting mechanism 105 are then adjusted so that the gas-electric vertical welding equipment 200 is positioned above the weld seam. Figure 8 As shown, the positioning fixture 250 is placed on the upright plate of the box beam 300 to be welded, the upright plate of the positioning body 251 is kept parallel to the upright plate of the box beam 300 to be welded, the clamping slide 253 is kept perpendicular to the upright plate of the box beam 300 to be welded, and the thrust screw 254 is manually adjusted so that the clamping block 252 and the positioning body 251 clamp the upright plate of the box beam 300 to be welded at the same time, thus completing the rough positioning of the gas-electric vertical welding equipment 200.

[0192] In summary, this invention optimizes the design of a method for recognizing the surface trajectory contour of a 300mm weld seam in a box girder to be welded, a method for recognizing the corner points of the 300mm weld seam cross-section trajectory contour, and a method for recognizing the tilt angle of the workpiece relative to the welding torch 242. First, when recognizing the weld seam surface trajectory contour, Euler distance calculation is introduced. Considering the special characteristics of the weld seam surface trajectory contour, a threshold for Euler distance calculation is defined to determine adjacent points of the weld seam surface contour set. Second, when calculating the corner points of the weld seam surface trajectory contour, two straight lines are constructed using two adjacent sampling points based on the three-point method. Based on the geometric relationship between the two straight lines and the processing deviation of the weld seam surface trajectory contour, an angle adjustment factor is set, and the corner points are finally determined through multi-condition screening. Then, using the three-point method, the plane normal vector equation is determined. Using the line-plane relationship for mapping, the trigonometric function of the workpiece rotation angle is solved, and the bidirectional angle deviation is inversely solved. Finally, two sets of angle adjustment motors use the center point of the weld seam cross-section trajectory contour and the bidirectional angle deviation to complete the positioning adjustment of the weld seam trajectory.

[0193] Since the systems / devices described in the above embodiments of the present invention are systems / devices used to implement the methods of the above embodiments of the present invention, those skilled in the art can understand the specific structure and modifications of the systems / devices based on the methods described in the above embodiments of the present invention, and therefore will not be repeated here. All systems / devices used in the methods of the above embodiments of the present invention fall within the scope of protection of the present invention.

[0194] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0195] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions.

[0196] It should be noted that any reference numerals placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In claims that enumerate several means, several of these means may be embodied by the same hardware. The use of the terms first, second, third, etc., is merely for convenience of expression and does not indicate any order. These terms can be understood as part of the component names.

[0197] Furthermore, it should be noted that in the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0198] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the claims should be interpreted to include both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0199] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, then this invention should also include these modifications and variations.

Claims

1. A method for identifying and locating weld seam trajectories, characterized in that, This method is applied to gas-electric vertical welding equipment equipped with a displacement adjustment motor and an angle adjustment motor, and the method includes: Based on the Euler distance calculation formula, each contour point in the obtained weld surface contour set is filtered to obtain the weld surface contour boundary set. A corner point judgment model is established based on the obtained angle adjustment factor containing weld chamfer information, weld contour edge missing information and weld offset information. Each element of the weld surface contour boundary set is input into the corner point judgment model for iterative processing to obtain the weld surface corner point set. Connect every three adjacent weld surface corner points in pairs to form several planes, and combine the normal vector of each plane to find the unique center point of the plane as the center point of the weld cross section trajectory profile. Based on the normal vectors of the weld trajectory plane containing the corner points of two adjacent weld surfaces and the center point of the weld cross-section trajectory contour, the bidirectional angular deviation between the welding torch and the weld trajectory is calculated using trigonometric function formulas. Based on the center point of the weld cross-section trajectory contour and the bidirectional angular deviation, the displacement adjustment motor and the angle adjustment motor are controlled to complete the positioning adjustment of the weld trajectory.

2. The weld seam trajectory identification and positioning method as described in claim 1, characterized in that, Before filtering each contour point in the obtained weld surface contour set according to the Euler distance calculation formula to obtain the weld surface contour boundary set, the following steps are also included: The weld surface is scanned in a 3D pattern using a pre-set vision sensor, and a three-dimensional coordinate system is constructed with the vision sensor as the base point to obtain several sampled coordinates P. i (X i Y i Z i ); Calculate the change in the horizontal coordinate in the sampled coordinates: △X=∣X i+1 -X i ∣=V x *△t (1) Among them, V x Δt is the lateral scanning speed of the vision sensor, Δt is the scanning period, and i is the number of sampling coordinates; Calculate the change in the vertical coordinate in the sampled coordinate system: △Y=∣Y i+1 -Y i |=V y *△t (2) where, V y Δt represents the longitudinal scanning speed of the vision sensor, and Δt represents the scanning period. Based on the height coordinate value in the sampling coordinates, which is the distance from the coordinate base point to the scanning light point of the vision sensor, the change in height coordinate in the sampling coordinates is calculated: △Z=∣Z i+1 -Z i ∣=H (3) Where H is the weld height; Based on the sampling point judgment condition formula (4), determine whether each sampling coordinate is a sampling point; |X i+1 -X i |>0∪|Y i+1 -Y i |>0 and ΔZ=|Z i+1 -Z i |>0.5τH (4) Where τ is the minimum adjustment factor and H is the weld height; The height coordinate values ​​of every two consecutive sampling points are compared, and the sampling point with the larger height coordinate value is determined as the weld surface contour set element.

3. The weld trajectory identification and positioning method as described in claim 2, characterized in that, Based on the Euler distance calculation formula, each contour point in the obtained weld surface contour set is filtered to obtain the weld surface contour boundary set, which includes: Based on the Euler distance calculation formula (5), the Euler distance S between every two consecutive contour points is calculated: Based on formula (6), the Euler distance threshold ξ is calculated: Where ψ is the scanning speed fluctuation factor of the vision sensor; According to formula (7), the scanning speed fluctuation factor ψ of the vision sensor is obtained; ψ=0.5(V min +V max ) (7) Among them, V min The minimum speed, V, of the visual sensor scanning process. max The maximum speed of the visual sensor scanning process; Determine whether the Euler distance between any two consecutive contour points is less than the Euler distance threshold; If the Euler distance between any two consecutive contour points is less than the Euler distance threshold, then the two consecutive contour points are determined to be elements of the weld surface contour boundary set. If the Euler distance between any two consecutive contour points is not less than the Euler distance threshold, then the two consecutive contour points are determined not to be elements of the weld surface contour boundary set.

4. The weld seam trajectory identification and positioning method as described in claim 3, characterized in that, Based on the obtained angle adjustment factors including weld chamfer information, weld contour edge missing information, and weld offset information, a corner point judgment model is established. Each element of the weld surface contour boundary set is input into the corner point judgment model for iterative processing, resulting in a weld surface corner point set including: The weld surface contour boundary set is composed of all contour points, grouped into sets of three adjacent contour points, with the three-dimensional coordinates being P. j (X j ,Y j Z j ), P j+1 (X j+1 ,Y j+1 Z j+1 ), P j+2 (X j+2 ,Y j+2 Z j+2 ); Using formulas (8), (9), (10), and (11), the difference in the abscissa of three adjacent contour points is calculated respectively. ordinate difference exist as well as Under the condition that all values ​​are 0, perform the condition judgment of formula (12); in, Angle adjustment factor; If the condition of formula (12) is met, then determine P. j+1 The corner points of the weld surface are the elements of the weld surface corner point set.

5. The weld trajectory identification and positioning method as described in claim 1, characterized in that, Before calculating the bidirectional angular deviation between the welding torch and the weld trajectory based on the normal vectors of the weld trajectory plane containing the corner points of two adjacent weld surfaces and the center point of the weld cross-section trajectory contour, using trigonometric function formulas, the following steps are also included: Obtain the center point O(X1, Y1, Z1) of the weld cross-section trajectory contour; Take two adjacent weld surface corner points from the set of weld surface corner points, namely B(X1-n, Y1+m, Z). b ) and C(X1+n, Y1+m, Z c ); Establish a three-dimensional coordinate system with the center point O(X1, Y1, Z1) of the weld cross-section trajectory as the origin; Obtain an auxiliary point A(X1, Y1-m, Z) that is in the same plane as weld surface corner point B, weld surface corner point C, and the center point O of the weld cross-section trajectory contour. a ) and auxiliary point D(X1, Y1+m, Z) d ); Based on formula (13), the normal vector λ of the plane containing auxiliary point A, auxiliary point D, weld surface corner point B, weld surface corner point C, and the center point O of the weld cross-section trajectory contour is obtained: The distance between auxiliary point A and auxiliary point D is 2m, and the distance between weld surface corner point B and weld surface corner point C is 2n.

6. The weld trajectory identification and positioning method as described in claim 5, characterized in that, Based on the normal vectors of the weld trajectory plane containing the corner points of two adjacent weld surfaces and the center point of the weld cross-section trajectory contour, and combined with trigonometric function calculation formulas, the bidirectional angular deviation between the welding torch and the weld trajectory is calculated, including: Based on the fact that the product of the normal vector of the weld trajectory plane and any vector of the weld trajectory plane is 0, the geometric relationships of the height coordinates of the center point O of the weld cross-section trajectory contour, auxiliary point A, weld surface corner point B, weld surface corner point C, and auxiliary point A are obtained: Based on the horizontal projection of the line connecting auxiliary point A and auxiliary point D and the horizontal projection of the line connecting weld surface corner point B and weld surface corner point C, the intention of the weld's transverse deflection angle and the intention of the weld's longitudinal deflection angle are obtained. Based on the trigonometric function calculation formula (16), the transverse deflection angle α of the weld is obtained: Based on the trigonometric function calculation formula (17), the longitudinal deflection angle β of the weld is obtained:

7. A weld seam trajectory recognition and positioning device, characterized in that, include: A controller for performing the weld trajectory recognition method for gas-electric vertical welding as described in claims 1-6; A vision sensor connected to the controller is used to scan the weld surface and acquire several sampling points; The displacement adjustment component connected to the controller is used to adjust the displacement trajectory of the welding torch based on the center point information of the weld cross-section trajectory profile of the controller. An angle adjustment component connected to the controller is used to adjust the welding angle of the welding torch based on the bidirectional angle deviation information between the welding torch and the weld trajectory of the controller. A welding assembly connected to the controller is used to weld seams according to the controller's control commands.

8. The weld seam trajectory identification and positioning device as described in claim 7, characterized in that, The displacement adjustment assembly includes: a lateral displacement slide rail, a longitudinal displacement slide rail, a lateral displacement motor, and a longitudinal displacement motor; The lateral displacement slide is set on the longitudinal displacement slide, and the lateral displacement slide is equipped with a vision sensor and welding components. A lateral displacement motor is installed on one side of the lateral displacement slide to drive the vision sensor and welding components to move laterally. The longitudinal displacement motor is located on one side of the longitudinal displacement slide and is used to drive the vision sensor and welding assembly to move longitudinally. The angle adjustment assembly includes: a horizontal rotation motor, a vertical rotation motor, and a rotation connecting block; Both the horizontal and vertical rotary motors are connected to the welding assembly via rotary connecting blocks, and are used to drive the welding assembly to rotate horizontally and vertically.

9. The weld seam trajectory identification and positioning device as described in claim 8, characterized in that, The welding assembly includes: a cooling copper block, a welding torch, a front rail connecting block, a rear rail connecting block, and a lifting rail; Cooling copper blocks are placed on one side of the weld to reduce the temperature at the weld during welding. The welding torch is mounted on the transverse displacement slide and is used for welding the weld seam; The front rail connecting block is connected to the longitudinal displacement slide and the lifting rail respectively, and is used to drive the longitudinal displacement slide to climb in the direction of the lifting rail, thereby driving the welding torch to climb in the direction of the lifting rail; The rear track connecting block is fixedly connected to the rotating connecting block and the lifting track respectively, and is used to drive the lifting track to rotate, thereby driving the welding gun to rotate.

10. The weld seam trajectory identification and positioning device as described in claim 8, characterized in that, include: Positioning fixtures and lifting fixtures; The positioning fixture includes: a positioning body, a clamping block, a clamping slide, a thrust screw, and a support plate. The clamping block is equipped with a thrust screw and is connected to the positioning body through the clamping slide. The support plate is equipped with lifting holes and is connected to the positioning body and the rotating connecting block respectively. The lifting fixture includes: a fixed mechanism, a rotating slide rail, a rotating mechanism, a translation slide rail, a lifting mechanism, and a lifting hook, all connected in sequence.

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