Welding track verification method and welding track verification system

Abstract

The present application relates to the field of welding detection technology, and provides a welding trajectory verification method and a welding trajectory verification system. The welding verification equipment includes a detection mechanism and a coordinate correction block provided with a welding trajectory correction track. The detection mechanism includes a bracket with a through hole and a sensor provided on one axial side of the through hole. The welding trajectory verification method includes: obtaining the installation position of the coordinate correction block; according to the installation position of the coordinate correction block, controlling the welding robot to spit out a predetermined length of welding wire, feeding the welding wire into one end of the welding trajectory correction track, and moving along the welding trajectory correction track until the welding wire passes through the welding trajectory correction track; controlling the welding robot to move to the side of the through hole away from the sensor, and moving the welding wire into the through hole; according to the welding wire passing through the through hole and the sensor detecting the welding wire, determining that the actual welding trajectory of the welding robot is consistent with the standard welding trajectory. Through the technical solution of the present application, the accuracy of the welding trajectory detection of the equipment can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of welding detection, and in particular to a welding trajectory verification method and a welding trajectory verification system. Background Art

[0002] This section merely provides background information related to the present disclosure and is not necessarily prior art.

[0003] At present, welding is a key control point in the manufacturing industry, which directly affects the mechanical properties of the finished product. At present, manufacturing companies generally confirm the welding quality by welding the first piece and visually confirm whether the welding is off-center, which is heavily dependent on the stability of the equipment and the experience of the personnel. In rare cases, when the welding track of the equipment is offset or the offset is small, it is difficult to directly identify it visually, resulting in poor welding that cannot be discovered in time, which may cause serious batch problems. Summary of the invention

[0004] The purpose of this application is to provide a welding track verification method and a welding track verification system, which are used to automatically detect whether the welding track of the equipment is offset and improve the detection accuracy. This purpose is achieved through the following technical solutions:

[0005] In the first aspect, the present application provides a welding trajectory verification method based on a welding verification device, wherein the welding verification device comprises a coordinate correction block and a detection mechanism, wherein a welding trajectory correction track is provided on the surface of the coordinate correction block, wherein the detection mechanism comprises a bracket and a sensor, wherein the bracket is provided with a through hole, and the sensor is provided on one axial side of the through hole, wherein the welding trajectory verification method comprises:

[0006] Obtaining the installation position of the coordinate correction block;

[0007] According to the installation position of the coordinate correction block, the welding robot is controlled to spit out a welding wire of a predetermined length, feed the welding wire into one end of the welding trajectory correction track, and move along the length direction of the welding trajectory correction track until the welding wire passes through the welding trajectory correction track;

[0008] Controlling the welding robot to move to a side of the through hole away from the sensor, and controlling the welding wire to move into the through hole;

[0009] According to the welding wire passing through the through hole and the sensor detecting the welding wire, it is determined that the welding trajectory of the welding robot is consistent with the standard welding trajectory.

[0010] According to the welding trajectory verification method based on the welding verification equipment provided by the present application, the welding robot has good stability. Usually, the welding trajectory deviation is caused by the deviation of the entire equipment, and it is not that a part of the program has a problem during the welding process, which causes the trajectory deviation of that part. Therefore, the welding robot can be used for detection. Specifically, after installing the fixed coordinate correction block, the installation position of the coordinate correction block is first obtained. According to the installation position of the coordinate correction block, the position and length information of the welding trajectory correction track can be obtained, which is convenient for setting the movement stroke of the welding robot. Then, the welding robot is controlled to feed the welding wire into one end of the welding trajectory correction track set on the surface of the coordinate correction block, and move along the length direction of the welding trajectory correction track until the welding wire passes through the welding trajectory correction track. After the welding wire passes through the welding track correction track, adjust the position of the welding robot so that the welding wire of the welding robot moves to the side of the through hole away from the sensor, and move the welding wire into the through hole. If the welding wire can pass through the through hole and is detected by the sensor, it means that the welding wire has not been bent or deformed in the process of passing through the welding track correction track, and the welding track of the welding robot has not been offset, so that it can be determined that the actual welding track of the welding robot is consistent with the standard welding track, and there is no need to adjust the track of the welding robot. In addition, the entire detection process does not require manual visual inspection, which helps to improve detection efficiency and detection accuracy.

[0011] In addition, the welding trajectory verification method based on the welding verification device provided by the present application may also have the following additional technical features:

[0012] In some embodiments of the present application, the welding trajectory verification method further includes:

[0013] According to the fact that the welding wire does not pass through the through hole or partially passes through the through hole and the sensor does not detect the welding wire, it is determined that the welding trajectory of the welding robot deviates from the standard welding trajectory.

[0014] In the above technical solution, if the welding wire does not completely pass through the through hole and is not detected by the sensor, it means that the welding wire has bent and deformed during the movement along the welding correction trajectory, resulting in the welding wire being unable to completely pass through the through hole and being unable to be successfully sensed and detected by the sensor. It can be determined that the actual welding trajectory of the welding robot is offset from the standard welding trajectory, and the welding trajectory of the welding robot needs to be adjusted and re-detected.

[0015] In some embodiments of the present application, the surface of the coordinate correction block is arranged to form an acute angle with a horizontal plane.

[0016] In the above technical scheme, the coordinate correction block is provided with a surface of a welding trajectory correction track and is inclined relative to the horizontal plane, so that the welding trajectory correction block can be extended along the height direction and any horizontal direction of the space, which is convenient for simulating the displacement trajectory of the welding robot in the entire space, so as to detect the consistency between the welding trajectory of the welding robot in the entire space and the standard welding trajectory.

[0017] In some embodiments of the present application, a first welding trajectory correction track and a second welding trajectory correction track are provided on the surface of the coordinate correction block, the first welding trajectory correction track extends along a first direction, and the second welding trajectory correction track extends along a second direction intersecting the first direction, and the step of feeding the welding wire into one end of the welding trajectory correction track and moving along the length direction of the preset welding trajectory until the welding wire passes through the welding trajectory correction track includes:

[0018] Controlling the welding robot to feed the welding wire into one end of the first welding trajectory correction track, and move along the length direction of the first welding trajectory correction track until the welding wire passes through the first welding trajectory correction track;

[0019] The welding robot is controlled to feed the welding wire into one end of the second welding trajectory correction track, and move along the length direction of the second welding trajectory correction track, and during the movement, the welding robot is controlled to continuously feed the welding wire until the welding wire passes through the second welding trajectory correction track.

[0020] In the above technical solution, the first welding trajectory correction track and the second welding trajectory correction track are arranged to intersect each other. For example, the first welding trajectory correction track extends along the X-axis direction of the coordinate system, and the second welding trajectory correction track extends along the Y-axis direction of the coordinate system. Since the coordinate correction block has the first welding trajectory correction track and the second welding trajectory correction track, the surface is inclined relative to the horizontal plane, so that the first welding trajectory correction track and the second welding trajectory correction track can also have welding trajectories along the Z-axis direction of the three-dimensional space coordinate system, thereby satisfying the welding robot's detection of welding trajectory consistency in different directions in the entire space.

[0021] In some embodiments of the present application, according to the welding wire not passing through the through hole or partially passing through the through hole, and the sensor not detecting the welding wire, the welding track verification method further includes:

[0022] Control the alarm to sound an alarm.

[0023] In the above technical solution, if the welding wire cannot completely pass through the through hole due to bending and deformation and is detected by the sensor, the alarm is controlled to sound an alarm so that the inspection personnel can re-debug the welding robot in time.

[0024] In some embodiments of the present application, the step of feeding the welding wire into one end of the welding trajectory correction track includes: the depth of the welding wire entering the welding trajectory correction track exceeds 60% of the track depth.

[0025] In the above technical solution, by controlling the welding robot to feed the welding wire to a depth exceeding 60% of the welding trajectory correction track, the risk of the welding wire detaching from the welding trajectory correction track during movement can be reduced, and the welding wire can be facilitated to pass through the welding trajectory correction track smoothly.

[0026] In some embodiments of the present application, controlling the welding wire to move into the through hole includes: controlling the welding wire to move into the through hole along an axial direction of the through hole.

[0027] In the above technical solution, it can be understood that when the welding wire is tilted relative to the through hole and enters the through hole, it may be detected by the sensor. Therefore, by controlling the welding wire to move into the through hole along the axial direction of the through hole, the risk of inaccurate detection results caused by the welding wire entering the through hole at an angle relative to the axial direction of the through hole can be reduced, which helps to improve the accuracy of the detection results.

[0028] In some embodiments of the present application, the through hole is set to a circular hole, and the diameter of the through hole is set to 1.05 to 1.15 times the diameter of the welding wire.

[0029] In the above technical solution, the diameter of the through hole is 1.05 to 1.15 times the diameter of the welding wire, which not only facilitates the welding wire to pass through the through hole within the error range, but also helps to improve the accuracy of detecting whether the welding wire is bent or deformed.

[0030] In the second aspect, the present application provides a welding trajectory verification system, comprising: a welding verification device, the welding verification device comprising a coordinate correction block and a detection mechanism, the surface of the coordinate correction block is provided with a welding trajectory correction track, the detection mechanism comprises a bracket and a sensor, the bracket is provided with a through hole, and the sensor is provided on one axial side of the through hole; a welding robot, the welding robot is used to feed the welding wire into one end of the welding trajectory correction track, and move the welding wire along the length direction of the welding trajectory correction track until the welding wire passes through the welding trajectory correction track, and is used to control the movement of the welding wire into the through hole; a controller, the controller is electrically connected to the welding robot and the sensor, the controller controls the welding robot to perform actions, and can judge whether the actual welding trajectory of the welding robot is consistent with the standard welding trajectory based on the sensing result of the sensor.

[0031] In some embodiments of the present application, a first welding trajectory correction track and a second welding trajectory correction track are provided on the surface of the coordinate correction block, the first welding trajectory correction track extends along a first direction, and the second welding trajectory correction track extends along a second direction intersecting the first direction.

[0032] In the above technical solution, after the welding wire spitted out by the welding robot passes through the first welding trajectory correction track and the second welding trajectory correction track, it moves to one side of the through hole, and controls the welding wire to move into the through hole, so as to detect whether the welding trajectory of the welding robot in different directions in the entire space is consistent with the standard welding trajectory. In some embodiments of the present application, the width of the first welding trajectory correction track and the second welding trajectory correction track are both set to 1.4-1.6 times the diameter of the welding wire.

[0033] In the above technical scheme, the width of the first welding trajectory correction track and the second welding trajectory correction track is set to 1.4-1.6 times the diameter of the welding wire. Within the allowable error range, it is convenient for the welding wire spit out by the welding robot to enter the first welding trajectory correction track and the second welding trajectory correction track, and move smoothly along the extension direction of the first welding trajectory correction track and the second welding trajectory correction track, thereby improving the detection efficiency.

[0034] In some embodiments of the present application, the depths of the first welding trajectory correction track and the second welding trajectory correction track are both set within the range of 8mm-12mm.

[0035] In the above technical scheme, when the depth of the first welding trajectory correction track and the second welding trajectory correction track is too deep, it may cause the welding wire itself to bend naturally and cause the detection process to fail. When the depth of the first welding trajectory correction track and the second welding trajectory correction track is too shallow, it may cause the welding wire to deviate from the first welding trajectory correction track or the second welding trajectory correction track during movement. Therefore, by setting the depth of the first welding trajectory correction track and the second welding trajectory correction track within the range of 8mm-12mm, it can help improve the accuracy of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0037] Figure 1 A schematic flow chart of a welding trajectory verification method provided in some embodiments of the present application;

[0038] Figure 2 A schematic flow chart of another welding trajectory verification method provided in some embodiments of the present application;

[0039] Figure 3 A schematic flow chart of another welding trajectory verification method provided in some embodiments of the present application;

[0040] Figure 4 A schematic diagram of a structure in which a welding wire provided in some embodiments of the present application does not bend or deform after passing through a welding track correction track;

[0041] Figure 5 A schematic diagram of a structure in which a welding wire passes through a through hole and is sensed and detected by a sensor provided in some embodiments of the present application;

[0042] Figure 6 A schematic diagram of a structure in which a welding wire provided in some embodiments of the present application is bent and deformed when passing through a welding track correction track;

[0043] Figure 7 A schematic diagram of a structure in which a welding wire does not pass through a through hole provided in some embodiments of the present application;

[0044] Figure 8 A schematic block diagram of the structure of a welding trajectory verification system provided in some embodiments of the present application.

[0045] The reference numerals are as follows:

[0046] 1000. Welding track verification system;

[0047] 100. Welding inspection equipment; 200. Welding robot; 300. Controller;

[0048] 10. Coordinate correction block; 11. First welding track correction track; 12. Second welding track correction track; 13. Mounting hole; 141. Through hole; 15. Sensor; 21. Welding wire. DETAILED DESCRIPTION

[0049] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0051] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0052] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0053] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0054] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0055] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0056] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0057] At present, with the development of computer, numerical control and robot technology, automatic welding robot technology has become increasingly mature and widely used in various industries. Compared with manual welding, robot welding is stable, can directly reflect the welding quality in the form of numerical values, reduces the requirements for workers' operating skills, can operate in harmful environments, and improves labor production efficiency. Therefore, it has been widely used in various industries.

[0058] Welding robot programming is a process in which the user guides the welding robot to operate step by step according to the actual welding process based on the material of the metal to be welded, plate thickness, weld shape requirements, etc. The welding robot records the actions, postures, motion parameters, process parameters, etc. of each position during the entire process, generates a program file, and subsequent repeated execution of the program can ensure the consistency of welding.

[0059] Welding is a key control point in the manufacturing industry, which directly affects the mechanical properties of the finished product. At present, manufacturing companies generally confirm the welding quality by welding the first piece and visually confirm whether the welding is offset, which is heavily dependent on the stability of the equipment and the experience of the personnel. In rare cases, when the welding track of the equipment is offset or the offset is small, it is difficult to directly identify it visually, resulting in poor welding that cannot be discovered in time, which may cause serious batch problems.

[0060] In order to solve the problem that when the welding trajectory of the equipment is offset or the offset is small, it is difficult to directly identify it by visual inspection, resulting in the problem that the defect cannot be discovered in time, the present application designs a welding trajectory verification method based on a welding verification device, the welding verification device includes a coordinate correction block and a detection mechanism, the coordinate correction block has a welding trajectory correction track, the detection mechanism includes a bracket and a sensor, the bracket is provided with a through hole for the welding wire to pass through, the sensor is arranged on one axial side of the through hole, and is used to detect the passing distance of the welding wire. Specifically, the welding trajectory verification method first controls the welding robot to feed the welding wire to one end of the welding trajectory correction track according to the installation position of the coordinate correction block, and moves the welding wire along the welding trajectory correction track to the other end of the welding trajectory correction track. In this process, the welding robot is controlled to continuously spit out the welding wire. After the welding wire passes through the welding trajectory correction track, the welding robot is controlled to move the welding wire into the through hole of the detection mechanism. If the welding wire can pass through the through hole and is detected by the sensor, it means that the welding wire has not been bent or deformed during the movement in the welding trajectory correction track, that is, it indicates that the welding trajectory of the welding robot has not been offset, so that it can be determined that the actual welding trajectory of the welding robot is consistent with the standard welding trajectory. Otherwise, it means that the welding trajectory has shifted and the equipment needs to be debugged and retested.

[0061] The welding trajectory verification method disclosed in the embodiment of the present application is not only applicable to welding trajectory detection in battery manufacturing, but also applicable to welding trajectory detection before welding of equipment that requires welding, such as vehicles and aircraft.

[0062] See also Figure 1 , Figure 4 and Figure 5 , Figure 1 A schematic flow chart of a welding trajectory verification method provided in some embodiments of the present application; Figure 4 A schematic diagram of a structure in which a welding wire provided in some embodiments of the present application does not bend or deform after passing through a welding track correction track; Figure 5 A schematic diagram of a structure in which a welding wire passes through a through hole and is sensed and detected by a sensor provided in some embodiments of the present application. The embodiment of the present application provides a welding track verification method based on a welding verification device, the welding verification device includes a coordinate correction block and a detection mechanism, the surface of the coordinate correction block is provided with a welding track correction track, the detection mechanism includes a bracket (not shown in the figure) and a sensor, the bracket is provided with a through hole, and the sensor is provided on one axial side of the through hole, and the welding track verification method includes:

[0063] Step S100: Obtain the installation position of the coordinate correction block.

[0064] Step S200: According to the installation position of the coordinate correction block, control the welding robot to spit out welding wire of a predetermined length, feed the welding wire into one end of the welding trajectory correction track, and move along the length direction of the welding trajectory correction track until the welding wire passes through the welding trajectory correction track.

[0065] Step S300: Control the welding robot to move to the side of the through hole away from the sensor, and control the welding wire to move into the through hole.

[0066] Step S400: According to the welding wire passing through the through hole and the sensor detecting the welding wire, it is determined that the welding trajectory of the welding robot is consistent with the standard welding trajectory.

[0067] Exemplarily, the coordinate correction block is a circular or rectangular plate with a certain thickness. The welding trajectory correction track is arranged on a surface of one side of the coordinate correction block in the thickness direction. Specifically, the welding trajectory correction track extends in a straight line. The coordinate correction block is provided with a mounting hole, and the mounting hole is used for a fixing member to pass through to fix the coordinate correction block.

[0068] Exemplarily, the through hole is a circular hole, and the diameter of the circular hole is adapted to the diameter of the welding wire.

[0069] Exemplarily, the sensor is arranged on one side of the axial direction of the through hole, and is offset relative to the center of the through hole, so as to detect the length of the welding wire passing through. The distance between the sensor and the through hole can be set to the length of the welding trajectory correction track, and can also be set to be slightly less than the length of the welding trajectory correction track in consideration of the allowable error range. For example, the length of the welding trajectory correction track is 50mm, and the distance between the sensor and the through hole is set at 49.5mm. When the length of the welding wire passing through the through hole reaches 49.5mm, the sensor can sense and detect the welding wire, and can transmit a sound signal or a light signal, so that the detection personnel can find it in time. On the contrary, if the length of the welding wire passing through the through hole is less than 49.5mm, the sensor cannot sense and detect the welding wire, and can transmit another sound signal or a light signal, so that the detection personnel can find it in time.

[0070] The welding trajectory verification method based on the welding verification equipment provided by the present application utilizes the good stability of the welding robot. Usually, the welding trajectory deviation is caused by the deviation of the entire equipment, and it is not caused by a problem in a part of the program during the welding process that causes the trajectory deviation of the part. Therefore, the welding robot can be used for detection. Specifically, after installing the fixed coordinate correction block, the installation position of the coordinate correction block is first obtained. According to the installation position of the coordinate correction block, the position and length information of the welding trajectory correction track can be obtained, which is convenient for setting the motion stroke of the welding robot, and then the welding robot is controlled to feed the welding wire into one end of the welding trajectory correction track set on the surface of the coordinate correction block, and move along the length direction of the welding trajectory correction track until the welding wire passes through the welding trajectory correction track. After the welding wire passes through the welding trajectory correction track, the position of the welding robot is adjusted so that the welding wire of the welding robot moves to the side of the through hole away from the sensor, and the welding wire moves into the through hole. If the welding wire can pass through the through hole and is detected by the sensor, it means that the welding wire has not been bent or deformed in the process of passing through the welding trajectory correction track, and the welding trajectory of the welding robot has not been offset, so that the actual welding trajectory of the welding robot can be determined to be consistent with the standard welding trajectory, and there is no need to adjust the trajectory of the welding robot. Moreover, the entire detection process does not require manual visual inspection, which helps to improve detection efficiency and accuracy.

[0071] See also Figure 2 , Figure 6 and Figure 7 , Figure 2 A schematic flow chart of another welding trajectory verification method provided in some embodiments of the present application. Figure 6 A schematic diagram of a structure in which a welding wire provided in some embodiments of the present application is bent and deformed when passing through a welding track correction track; Figure 7 A schematic diagram of a structure in which a welding wire does not pass through a through hole provided in some embodiments of the present application. According to some embodiments of the present application, the welding track verification method further includes:

[0072] Step S500: According to the fact that the welding wire does not pass through the through hole or partially passes through the through hole and the sensor does not detect the welding wire, it is determined that the welding trajectory of the welding robot deviates from the standard welding trajectory.

[0073] If the welding wire does not completely pass through the through hole and is not detected by the sensor, it means that the welding wire has bent and deformed during the movement along the welding correction trajectory, resulting in the welding wire being unable to completely pass through the through hole and being unable to be successfully detected by the sensor. It can be determined that the actual welding trajectory of the welding robot is offset from the standard welding trajectory, and the welding trajectory of the welding robot needs to be adjusted and re-detected.

[0074] According to some embodiments of the present application, the surface of the coordinate correction block is arranged to form an acute angle with the horizontal plane.

[0075] Exemplarily, the angle between the surface of the coordinate correction block having the welding trajectory correction track and the horizontal plane is 30° to 60°, for example, it can be set to 45°.

[0076] That is, the surface of the coordinate correction block on which the welding trajectory correction track is arranged is inclined relative to the horizontal plane, so that the welding trajectory correction block can be extended along the height direction and any horizontal direction of the space, which is convenient for simulating the displacement trajectory of the welding robot in the entire space, so as to facilitate the detection of the consistency between the welding trajectory of the welding robot in the entire space and the standard welding trajectory.

[0077] See also Figure 3 , Figure 3 A flow chart of another welding trajectory calibration method provided for some embodiments of the present application. According to some embodiments of the present application, a first welding trajectory calibration track and a second welding trajectory calibration track are provided on the surface of the coordinate calibration block, the first welding trajectory calibration track extends along a first direction, and the second welding trajectory calibration track extends along a second direction intersecting the first direction, and the welding wire is fed into one end of the welding trajectory calibration track and moved along the length direction of the welding trajectory calibration track until the welding wire passes through the welding trajectory calibration track, comprising:

[0078] Step S201: Control the welding robot to feed the welding wire into one end of the first welding trajectory correction track, and move along the length direction of the first welding trajectory correction track until the welding wire passes through the first welding trajectory correction track.

[0079] Step S202: Control the welding robot to feed the welding wire into one end of the second welding trajectory correction track, and move along the length direction of the second welding trajectory correction track until the welding wire passes through the second welding trajectory correction track.

[0080] The first welding trajectory correction track and the second welding trajectory correction track are arranged to intersect each other. For example, the first welding trajectory correction track extends along the X-axis direction of the coordinate system, and the second welding trajectory correction track extends along the Y-axis direction of the coordinate system. Since the coordinate correction block has the first welding trajectory correction track and the second welding trajectory correction track, the surface is inclined relative to the horizontal plane, so that the first welding trajectory correction track and the second welding trajectory correction track can also have welding trajectories along the Z-axis direction of the three-dimensional space coordinate system, thereby satisfying the welding robot's detection of welding trajectory consistency along different directions in the entire space.

[0081] See also Figure 3 According to some embodiments of the present application, according to the welding wire not passing through the through hole or partially passing through the through hole, and the sensor not detecting the welding wire, the welding track verification method further includes:

[0082] Step S600: Control the alarm to sound an alarm.

[0083] For example, the alarm may emit at least one of an audible alarm and a light alarm.

[0084] That is, if the welding wire cannot completely pass through the through hole due to bending and deformation and is detected by the sensor, the control alarm will sound an alarm so that the inspection personnel can re-debug the welding robot in time.

[0085] According to some embodiments of the present application, the step of feeding the welding wire into one end of the welding trajectory correction track includes: feeding the welding wire into the welding trajectory correction track to a depth exceeding 60% of the track depth.

[0086] When the welding robot is controlled to feed the welding wire into one end of the welding trajectory correction track, the feeding depth of the welding wire is not less than 60% of the depth of the welding trajectory correction track, thereby reducing the risk of the welding wire detaching from the welding trajectory correction track during movement and facilitating the welding wire to pass through the welding trajectory correction track smoothly.

[0087] According to some embodiments of the present application, controlling the welding wire to move into the through hole includes: controlling the welding wire to move into the through hole along the axial direction of the through hole.

[0088] It is understandable that when the welding wire is tilted relative to the through hole and enters the through hole, it may be detected by the sensor. Therefore, by controlling the welding wire to move into the through hole along the axial direction of the through hole, the risk of inaccurate detection results caused by the welding wire entering the through hole at an angle relative to the axial direction of the through hole can be reduced, which helps to improve the accuracy of the detection results.

[0089] According to some embodiments of the present application, the through hole 141 is set to be a circular hole, and the diameter of the through hole 141 is set to be 1.05 to 1.15 times the diameter of the welding wire.

[0090] The diameter of the through hole is 1.05 to 1.15 times the diameter of the welding wire, which not only facilitates the welding wire to pass through the through hole within the error range, but also helps to improve the accuracy of detecting whether the welding wire is bent or deformed.

[0091] See also Figures 4 to 8 , Figure 8A structural schematic block diagram of a welding trajectory verification system provided for some embodiments of the present application. According to some embodiments of the present application, the present application also provides a welding trajectory verification system 1000, including: a welding verification device 100, the welding verification device 100 includes a coordinate correction block 10 and a detection mechanism, the surface of the coordinate correction block 10 is provided with a welding trajectory correction track, the detection mechanism includes a bracket (not shown in the figure) and a sensor 15, the bracket is provided with a through hole 141, and the sensor 15 is arranged on one axial side of the through hole 141; a welding robot 200, the welding robot 200 is used to feed the welding wire 21 into one end of the welding trajectory correction track, and move the welding wire 21 along the length direction of the welding trajectory correction track until the welding wire 21 passes through the welding trajectory correction track, and is used to control the welding wire 21 to move into the through hole 141; a controller, the controller is electrically connected to the welding robot 200 and the sensor 15, the controller controls the welding robot 200 to perform an action, and can judge whether the actual welding trajectory of the welding robot 200 is consistent with the standard welding trajectory based on the sensing result of the sensor 15.

[0092] Specifically, the welding trajectory correction track extends in a straight line. The coordinate correction block 10 is provided with a mounting hole 13, and the mounting hole 13 is used for a fixing member to pass through so as to fix the coordinate correction block 10.

[0093] The through hole 141 is a circular hole, and the diameter of the circular hole matches the diameter of the welding wire 21 .

[0094] According to some embodiments of the present application, a first welding trajectory correction track 11 and a second welding trajectory correction track 12 are provided on the surface of the coordinate correction block 10. The first welding trajectory correction track 11 extends along a first direction, and the second welding trajectory correction track 12 extends along a second direction intersecting the first direction.

[0095] Exemplarily, the coordinate correction block 10 is tilted relative to the horizontal plane, and the welding wire 21 spitted by the welding robot 200 moves to one side of the through hole 141 after passing through the first welding trajectory correction track 11 and the second welding trajectory correction track 12, and the welding wire 21 is controlled to move into the through hole 141, so as to detect whether the welding trajectory of the welding robot 200 in different directions in the entire space is consistent with the standard welding trajectory. According to some embodiments of the present application, the width of the first welding trajectory correction track 11 and the second welding trajectory correction track 12 are both set to 1.4-1.6 times the diameter of the welding wire 21.

[0096] The width of the first welding trajectory correction track 11 and the second welding trajectory correction track 12 is set to 1.4-1.6 times the diameter of the welding wire 21. For example, the diameter of the welding wire 21 is 1.2 mm, and the width of the first welding trajectory correction track 11 and the second welding trajectory correction track 12 is set to 1.8 mm. In this way, within the allowable error range, it is convenient for the welding wire 21 spit out by the welding robot 200 to enter the first welding trajectory correction track 11 and the second welding trajectory correction track 12, and move smoothly along the extension direction of the first welding trajectory correction track 11 and the second welding trajectory correction track 12, thereby improving the detection efficiency.

[0097] According to some embodiments of the present application, the depths of the first welding trajectory correction track 11 and the second welding trajectory correction track 12 are both set in the range of 8 mm-12 mm.

[0098] When the depth of the first welding trajectory correction track 11 and the second welding trajectory correction track 12 is too deep, the welding wire 21 itself may bend naturally and the detection process may fail. When the depth of the first welding trajectory correction track 11 and the second welding trajectory correction track 12 is too shallow, the welding wire 21 may be separated from the first welding trajectory correction track 11 or the second welding trajectory correction track 12 during movement. Therefore, by setting the depth of the first welding trajectory correction track 11 and the second welding trajectory correction track 12 within the range of 8mm-12mm, it can help improve the accuracy of detection.

[0099] According to some embodiments of the present application, see Figures 3 to 7The present application provides a welding trajectory verification method based on a welding verification device, the welding verification device includes a coordinate correction block and a detection mechanism, the surface of the coordinate correction block is provided with a first welding trajectory correction track and a second welding trajectory correction track, the first welding trajectory correction track extends along a first direction, and the second welding trajectory correction track extends along a second direction intersecting the first direction, the detection mechanism includes a bracket and a sensor, the bracket is provided with a through hole, the sensor is arranged on one axial side of the through hole, and is used to detect the passing distance of the welding wire, the welding trajectory verification method includes: obtaining the installation position of the coordinate correction block; according to the installation position of the coordinate correction block, controlling the welding robot to spit out a predetermined length of welding wire, feeding the welding wire into one end of the first welding trajectory correction track, and moving along the length direction of the welding trajectory correction track, and in the movement During the process, the welding robot is controlled to continuously feed the welding wire until the welding wire passes through the first welding trajectory correction track; the welding robot is controlled to feed the welding wire into one end of the second welding trajectory correction track, and move along the length direction of the second welding trajectory correction track, and during the movement, the welding robot is controlled to continuously feed the welding wire until the welding wire passes through the second welding trajectory correction track; the welding robot is controlled to move to the side of the through hole away from the sensor, and the welding wire is controlled to move into the through hole; according to the welding wire passing through the through hole and the sensor detecting the welding wire, it is determined that the welding trajectory of the welding robot is consistent with the standard welding trajectory; according to the welding wire not passing through the through hole or partially passing through the through hole, and the sensor not detecting the welding wire, it is determined that there is a deviation between the welding trajectory of the welding robot and the standard welding trajectory, and the alarm is controlled to sound an alarm. By adopting the above technical solution, the accuracy of detecting whether the welding trajectory of the equipment is offset can be improved, and the risk of poor welding not being discovered in time due to manual visual identification and possibly causing serious batch problems can be reduced.

[0100] The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A welding trajectory verification method based on welding verification equipment, characterized in that: The welding verification device comprises a coordinate correction block and a detection mechanism, the surface of the coordinate correction block is provided with a welding trajectory correction track, the detection mechanism comprises a bracket and a sensor, the bracket is provided with a through hole, and the sensor is arranged on one axial side of the through hole, and the welding trajectory verification method comprises: Obtaining the installation position of the coordinate correction block; According to the installation position of the coordinate correction block, the welding robot is controlled to spit out a welding wire of a predetermined length, feed the welding wire into one end of the welding trajectory correction track, and move along the length direction of the welding trajectory correction track until the welding wire passes through the welding trajectory correction track; Controlling the welding robot to move to a side of the through hole away from the sensor, and controlling the welding wire to move into the through hole; According to the welding wire passing through the through hole and the sensor detecting the welding wire, it is determined that the actual welding trajectory of the welding robot is consistent with the standard welding trajectory.

2. The welding trajectory verification method according to claim 1, characterized in that: The welding trajectory verification method also includes: According to the fact that the welding wire does not pass through the through hole or partially passes through the through hole and the sensor does not detect the welding wire, it is determined that the actual welding trajectory of the welding robot deviates from the standard welding trajectory.

3. The welding trajectory verification method according to claim 1, characterized in that: The surface of the coordinate correction block is arranged to form an acute angle with a horizontal plane.

4. The welding trajectory verification method according to claim 3, characterized in that: The surface of the coordinate correction block is provided with a first welding trajectory correction track and a second welding trajectory correction track, the first welding trajectory correction track extends along a first direction, and the second welding trajectory correction track extends along a second direction intersecting the first direction, and the step of controlling the welding robot to feed the welding wire into the welding trajectory correction track and move along the length direction of the welding trajectory correction track until the welding wire passes through the welding trajectory correction track includes: Controlling the welding robot to feed the welding wire into one end of the first welding trajectory correction track, and move along the length direction of the welding trajectory correction track until the welding wire passes through the first welding trajectory correction track; The welding robot is controlled to feed the welding wire into one end of the second welding trajectory correction track, and move along the length direction of the second welding trajectory correction track until the welding wire passes through the second welding trajectory correction track.

5. The welding trajectory verification method according to any one of claims 1 to 4, characterized in that: According to the fact that the welding wire does not pass through the through hole or partially passes through the through hole, and the sensor does not detect the welding wire, the welding trajectory verification method further includes: controlling an alarm to sound an alarm.

6. The welding trajectory verification method according to any one of claims 1 to 4, characterized in that: The step of feeding the welding wire into one end of the welding trajectory correction track includes: the depth of the welding wire entering the welding trajectory correction track exceeds 60% of the track depth.

7. The welding trajectory verification method according to any one of claims 1 to 4, characterized in that: The step of controlling the welding wire to move into the through hole comprises: The welding wire is controlled to move into the through hole along the axial direction of the through hole.

8. The welding trajectory verification method according to any one of claims 1 to 4, characterized in that: The through hole is set as a circular hole, and the diameter of the through hole is set to be 1.05 to 1.15 times the diameter of the welding wire.

9. A welding trajectory verification system, characterized in that: include: A welding inspection device, the welding inspection device comprising a coordinate correction block and a detection mechanism, the surface of the coordinate correction block is provided with a welding trajectory correction track, the detection mechanism comprises a bracket and a sensor, the bracket is provided with a through hole, and the sensor is arranged on one axial side of the through hole; A welding robot, the welding robot is used to feed the welding wire into one end of the welding trajectory correction track, and move the welding wire along the length direction of the welding trajectory correction track until the welding wire passes through the welding trajectory correction track, and is used to control the welding wire to move into the through hole; A controller is electrically connected to the welding robot and the sensor, the controller controls the welding robot to perform actions, and can determine whether the actual welding trajectory of the welding robot is consistent with the standard welding trajectory based on the sensing result of the sensor.

10. The welding trajectory verification system according to claim 9, characterized in that: The surface of the coordinate correction block is provided with a first welding trajectory correction track and a second welding trajectory correction track, the first welding trajectory correction track extends along a first direction, and the second welding trajectory correction track extends along a second direction intersecting with the first direction.

11. The welding trajectory verification system according to claim 10, characterized in that: The widths of the first welding trajectory correction track and the second welding trajectory correction track are both set to 1.4-1.6 times the diameter of the welding wire.

12. The welding trajectory verification system according to claim 10, characterized in that: The depths of the first welding trajectory correction track and the second welding trajectory correction track are both set within the range of 8mm-12mm.

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