Weld positioning method for the intersection line between flange pipe and arc plate for air cooler

Abstract

The present invention relates to the technical field of weld positioning, and in particular to a weld positioning device and method for the intersection line of a flange pipe and an arc plate for an air cooler, the positioning device comprising a rectangular frame, comprising a rectangular panel and four side panels arranged perpendicular to the four sides of the rectangular panel; a positioning column, which is fixed in the middle of the rectangular panel and has the same inner diameter as the flange pipe to be welded; a pair of mutually parallel side panels in the four side panels is defined as an X-plane positioning plate, and another pair of mutually parallel side panels is defined as a Y-plane positioning plate, and the X-plane positioning plate, the Y-plane positioning plate and the positioning column are all located on the same side of the rectangular panel; a robot can accurately and quickly locate the intersection line at the connection between the arc plate and the flange pipe in a batch production process, improve the welding quality, ensure that the weld is well formed, and solve the technical problems of high cost, strong professionalism, and strong dependence on technicians when using laser positioning when manually welding the intersection line.

Description

Technical Field

[0001] The invention relates to the technical field of weld positioning, and in particular to a device and method for positioning a weld of an intersection line between a flange pipe and an arc plate for an air cooler. Background Art

[0002] During the manufacturing process of the air cooler, flange pipes are designed on the front and rear arc-shaped pipe boxes, which are mainly used as the inlet and outlet of the medium to be cooled. Therefore, the welding quality of the flange pipe and the arc plate is particularly important. Figure 1 Flange connection 1 and the instruction manual Figure 2 The arc plate 2, the flange pipe is connected to the arc plate by inserting, and the parts that need to be welded are a spatial intersecting line.

[0003] At present, the welding methods used in the industry for the intersection of the flange pipe and the curved plate are divided into manual welding and robot welding. The disadvantages of manual welding are that, on the one hand, since the weld is a circular weld, it is impossible to complete a full circle in one go during the manual welding process (it is inconvenient to turn around), so there are multiple welding joints during the welding process, which increases the risk of welding defects; on the other hand, a single intersection line welding requires continuous welding for about 20 minutes, and manual welding is prone to fatigue, which further increases the risk of defects, and the cost of manual welding is high.

[0004] Regarding robot welding, you can refer to a method for welding flange intersection welds disclosed in a patent application document with application publication number CN115430904A. The control parameters are obtained through the welding robot control system, and the control parameters are transmitted to the welding robot grasping end to determine whether spot welding is performed. If spot welding is not performed, spot welding positioning is performed and spot welding is started; if spot welding is completed, full welding positioning is performed and full welding is started; after full welding is completed, the back of the flange is welded, and a welding completion signal is transmitted to the welding robot grasping end. After receiving the signal, the welding robot grasping end returns to zero, and the welding is completed.

[0005] The positioning in the above method is generally laser positioning. The advantage of laser positioning is that it can realize accurate positioning and tracking of the weld by utilizing the high sensitivity and high resolution characteristics of the laser sensor. At the same time, laser positioning technology can realize real-time scanning and calculation of the weld, so as to quickly respond to and control the welding process. High precision and high efficiency are the main advantages of laser positioning, but it still has certain shortcomings: laser positioning technology requires the use of hardware equipment such as high-precision laser sensors and advanced control systems, and there is a problem of high cost. At the same time, the implementation of laser positioning technology requires professional technicians to operate and maintain, and it is highly dependent on the technical skills of technicians. Summary of the invention

[0006] The present invention provides a device for positioning a weld between a flange pipe and an intersection line of an arc plate for an air cooler, so as to solve the technical problems in the prior art of using laser positioning when manually welding the intersection line, such as high cost, strong professionalism, and strong dependence on technical personnel; the present invention also provides a method for positioning a weld between a flange pipe, an arc plate and an intersection line.

[0007] In order to solve the above problems, the weld positioning device for the intersection line of the flange pipe and the arc plate for an air cooler provided by the present invention adopts the following technical solution:

[0008] The weld positioning device for the intersection line between the flange pipe and the arc plate of the air cooler includes:

[0009] A rectangular frame comprising a rectangular panel and four side panels arranged perpendicular to four sides of the rectangular panel;

[0010] A positioning column, which is fixed in the middle of the rectangular panel and has the same inner diameter as the flange pipe to be welded;

[0011] It is defined that among the four side panels, a pair of mutually parallel side panels are X-plane positioning panels, and another pair of mutually parallel side panels are Y-plane positioning panels. The X-plane positioning panels, the Y-plane positioning panels and the positioning posts are all located on the same side of the rectangular panel.

[0012] The beneficial effect is: through the cooperation of the X-plane positioning plate, the Y-plane positioning plate and the positioning column, accurate positioning in all directions is completed, and then as a reference for the robot, the robot can accurately and quickly locate the intersection line of the arc plate and the flange pipe connection during mass production. The structure of the entire device is simple, the cost is low, and it is easy to operate and process. It does not need to rely too much on the experience of technicians, reduces the workload of teaching programming, and greatly improves production efficiency; accurate intersection line positioning can improve welding quality and ensure that the weld is well formed; it greatly reduces manual participation and reduces the occurrence of welding defects. At the same time, the recognition accuracy of the intersection line is higher.

[0013] Furthermore, the X-plane positioning plate remains parallel to the length direction of the arc plate during placement, and the height of the X-plane positioning plate is less than the length of the flange pipe to avoid interference when the welding gun locates the weld point.

[0014] Beneficial effect: This arrangement can effectively avoid interference of the welding gun in positioning the weld seam and weld point after the X-plane positioning plate is placed.

[0015] Furthermore, the Y-plane positioning plate remains parallel to the width direction of the arc plate during placement, and the height of the Y-plane positioning plate is less than the length of the flange pipe to avoid interference when the welding gun locates the weld point.

[0016] Beneficial effect: This arrangement can effectively avoid interference of the welding gun in positioning the weld seam and weld point after the Y plane positioning plate is placed.

[0017] The beneficial effects of the weld positioning device for the intersection line of the flange pipe and the arc plate for the air cooler provided by the present invention are:

[0018] 1. Through the cooperation of X-plane positioning plate, Y-plane positioning plate and positioning column, accurate positioning in all directions is completed. Then, as a reference for the robot, the robot can accurately and quickly locate the intersection line of the arc plate and the flange pipe connection in the batch production process. The whole device has a simple structure, low cost, and easy operation and processing. It does not need to rely too much on the experience of technicians, reduces the workload of teaching programming, and greatly improves production efficiency; accurate intersection line positioning can improve welding quality and ensure that the weld is well formed; it greatly reduces manual participation and reduces the generation of welding defects. At the same time, the recognition accuracy of the intersection line is higher;

[0019] 2. The height of the X-plane positioning plate is less than the length of the flange pipe, which can effectively avoid the interference of the welding gun on the positioning of the weld seam and welding point after the X-plane positioning plate is placed;

[0020] 3. The height of the Y-plane positioning plate is less than the length of the flange pipe, which can effectively avoid the interference of the welding gun on the positioning of the weld seam and welding point after the Y-plane positioning plate is placed;

[0021] In summary, through the above-mentioned settings, the present invention completes the improvement and upgrade of the existing weld positioning device, and effectively solves the technical problems of high cost, high professionalism, and strong dependence on technicians in the prior art when using laser positioning when manually welding intersection lines.

[0022] In order to solve the above problems, the weld positioning method of the intersection line between the flange pipe and the arc plate for the air cooler provided by the present invention adopts the following technical solution:

[0023] The weld positioning method of the intersection line of the flange pipe and the arc plate for the air cooler first selects a standard part as the standard workpiece, performs reference positioning on it, and writes the weld trajectory of the workpiece as the reference program, including the following steps:

[0024] S1: Place the workpiece on the robot welding work surface so that the width direction of the arc plate is parallel to the X direction of the robot, and the length direction of the arc plate is parallel to the Y direction of the robot;

[0025] S2: Put the weld positioning device of the intersection line between the flange pipe and the arc plate of the air cooler on the flange pipe through the positioning column, and ensure that the X-plane positioning plate of the positioning device is parallel to the length direction of the arc plate;

[0026] S3: Positioning the workpiece in the X direction: define the length direction of the arc plate as the B side and the width direction as the A side, move the welding gun to a point B (X B ,Y B ,ZB ), one-dimensional positioning is used to make the welding gun move along the X direction, and the welding gun touches the X-plane positioning plate on the flange pipe. The X-axis point is recorded as X 0 ;

[0027] S4: Positioning the workpiece in the Y direction: Move the welding gun to a point A (X A ,Y A ,Z A ), one-dimensional positioning is used to move the welding gun along the Y direction, so that the welding gun touches the Y plane positioning plate on the flange pipe, and the Y axis point is recorded as Y 0 ;

[0028] S5: Spatial positioning of welding point: Move the welding gun to the top of welding point 1 on the arc plate, and the point is marked as H1 (X 1 ,Y 1 ,Z H1 ); Use one-dimensional positioning to move the welding gun along the Z direction until the welding gun touches the arc plate. The spatial position of welding point 1 is recorded as 1 (X 1 ,Y 1 ,Z 1 ); The same operation method is used to cut H just above the solder joints 2-8. 2 -H 8 The point is located in one dimension, and the welding gun is moved along the Z direction until the welding gun touches the arc plate. The spatial position of welding point 2-8 is recorded as 2 (X 2 ,Y 2 ,Z 2 )、3(X 3 ,Y 3 ,Z 3 )、4(X 4 ,Y 4 ,Z 4 )、5(X 5 ,Y 5 ,Z 5 )、6(X 6 ,Y 6 ,Z 6 )、7(X 7 ,Y 7 ,Z 7 )、8(X 8 ,Y 8 ,Z 8 ).

[0029] The beneficial effects are: by selecting a standard part as a reference for positioning, using the weld positioning device of the intersection line of the flange pipe and the arc plate for the air cooler to position in the X direction, Y direction and space direction, and recording the corresponding welding point positions, the robot can accurately and quickly locate the intersection line of the arc plate and the flange pipe connection during the batch production process, reducing the workload of teaching programming, the whole operation process is simple, does not need to overly rely on the experience of technicians, and greatly improves production efficiency; accurate intersection line positioning can improve welding quality and ensure that the weld is well formed; it greatly reduces manual participation and reduces the generation of welding defects. At the same time, the recognition accuracy of the intersection line is higher.

[0030] Furthermore, it also includes mass production welding seam positioning for new workpieces, which includes the following steps:

[0031] a: The new workpiece and the standard workpiece use the same S1, S2, S3 positioning method;

[0032] b: Perform workpiece X-direction positioning: Move the welding gun to point B (X) on the arc plate B side that is consistent with the standard part positioning starting point. B ,Y B ,Z B ) position, execute the one-dimensional positioning command, make the welding gun move along the X direction, the welding gun touches the positioning column on the flange pipe, and the X-axis point is recorded as X 批 ;

[0033] c: Perform workpiece Y-direction positioning: Move the welding gun to point A (X A ,Y A ,Z A ) position, one-dimensional positioning is used to move the welding gun along the Y direction until the welding gun touches the positioning column on the flange pipe. The Y-axis point is recorded as Y 批 .

[0034] Beneficial effect: A new workpiece can also be positioned in the X and Y directions along the same positioning methods of S1, S2, and S3, which greatly improves the welding quality.

[0035] Furthermore, after step c, the method further comprises:

[0036] d: The starting point offset of the spatial positioning movement of the welding point: Due to the position deviation between the intersection line of the flange pipe of the batch workpiece and the arc plate and the intersection line of the standard part, the X direction offset is: X 批 -X 0 ;Y direction offset: Y 批 -Y 0 , so H 1 -H 8 The spatial position of the offset is shifted, and the corresponding point after the offset is recorded as H 批1-H 批8 , the spatial coordinates are (X 1 +X 批 -X 0 ,Y 1 +Y 批 -Y 0 ,Z H1 )、(X 2 +X 批 -X 0 , Y 2 +Y 批 -Y 0 ,Z H2 )、(X 3 +X 批 -X 0 ,Y 3 +Y 批 -Y 0 ,Z H3 )、(H 4 +X 批 -X 0 ,Y 4 +Y 批 -Y 0 ,Z H4 )、(X 5 +X 批 -X 0 ,Y 5 +Y 批 -Y 0 ,Z H5 )、(X 6 +X 批 -X 0 ,Y 6 +Y 批 -Y 0 ,Z H6 )、(X 7 +X 批 -X 0 ,Y 7 +Y 批 -Y 0 ,Z H7 )、(X 8 +X 批 -X 0 ,Y 8 +Y 批 -Y 0 ,Z H8 ).

[0037] Beneficial effect: Considering the position deviation of the intersection line, the spatial coordinates of the offset point are recorded to facilitate the subsequent spatial positioning of the weld point, further improving the weld positioning effect.

[0038] Further, after step d, the method further includes:

[0039] e: Spatial position of welding spot: According to the starting position of the spatial positioning movement of the welding spot obtained in step d, the welding gun is positioned along the H batch 1 just above the welding spot 1 of the batch workpiece, and the welding gun is moved along the Z direction until the welding gun touches the arc plate. The Z-axis coordinate of the welding spot 1 of the batch workpiece is marked as Z batch 1, so the welding spot 1 (X 1 +X 批 -X 0 ,Y 1 +Y 批 -Y 0 ,Z 批1 ), and similarly, the spatial position 2 (X 2 +X 批 -X 0 ,Y 2 +Y 批 -Y 0 ,Z 批2 )、3(X 3 +X 批 -X 0 , Y 3 +Y 批 -Y 0 ,Z 批3 )、4(X 4 +X 批 -X 0 ,Y 4 +Y 批 -Y 0 ,Z 批4 )、5(X 5 +X 批 -X 0 ,Y 5 +Y 批 -Y 0 ,Z 批5 )、6(X 6 +X 批 -X 0 ,Y 6 +Y 批 -Y 0 ,Z 批6 )、7(X 7 +X 批 -X 0 ,Y 7 +Y 批 -Y 0 ,Z 批7 )、8(X 8 +X 批 -X 0 ,Y 8 +Y 批 -Y 0 ,Z批8 );

[0040] f: Realize welding: Once the spatial position of the intersection line is determined, welding can be carried out.

[0041] Furthermore, during the robot welding process, the intersection line is split into four space curves; the trajectory is programmed as an arc motion, and three points determine an arc, including the starting point, transition point, and end point. The end point of the previous arc is used as the starting point of the next continuous arc. Each point has a spatial coordinate (X, Y, Z) in space. The specific trajectory is as follows:

[0042] Track 1: Point 1 (X 1 ,Y 1 ,Z 1 ) → Point 2 (X 2 ,Y 2 ,Z 2 ) → Point 3 (X 3 ,Y 3 ,Z 3 );

[0043] Track 2: Point 3 (X 3 ,Y 3 ,Z 3 ) → Point 4 (X 4 ,Y 4 ,Z 4 ) → Point 5 (X 5 ,Y 5 ,Z 5 );

[0044] Track 3: Point 5 (X 5 ,Y 5 ,Z 5 ) → Point 6 (X 6 ,Y 6 ,Z 6 ) → Point 7 (X 7 ,Y 7 ,Z 7 );

[0045] Track 4: Point 7 (X 7 ,Y 7 ,Z 7 ) → point 8 (X 8 ,Y 8 ,Z 8 ) → Point 1 (X 1 ,Y 1 ,Z 1 ).

[0046] Beneficial effect: The intersection line is divided into multiple segments, each segment is further subdivided into three points, and the coordinates of each point are determined, which greatly improves the accuracy of weld positioning.

[0047] Furthermore, the positioning motion is divided into one-dimensional, two-dimensional and three-dimensional. When the welding wire at the end of the robot welding gun touches the workpiece, the welding machine receives voltage feedback and then records the current position;

[0048] One-dimensional positioning moves along a straight line;

[0049] Two-dimensional positioning is linear motion in two directions in a plane;

[0050] Three-dimensional positioning is linear motion in three directions in space.

[0051] The beneficial effects of the weld positioning method for the intersection line of the flange pipe and the arc plate for an air cooler provided by the present invention are:

[0052] 1. Select a standard part as the reference positioning, use the weld positioning device of the intersection line of the flange pipe and the arc plate for the air cooler to locate the X direction, Y direction and space direction, and record the corresponding welding point position. The robot can accurately locate the intersection line of the arc plate and the flange pipe in the batch production process, which reduces the workload of teaching programming. The whole operation process is simple and does not need to rely too much on the experience of technicians, which greatly improves production efficiency. Accurate intersection line positioning can improve welding quality and ensure that the weld is well formed. It greatly reduces manual participation and reduces the occurrence of welding defects. At the same time, the recognition accuracy of the intersection line is higher.

[0053] 2. New workpieces can also be positioned in the X and Y directions along the same positioning methods of S1, S2, and S3, which greatly improves the welding quality;

[0054] 3. Consider the position deviation of the intersection line and record the spatial coordinates of the offset point to facilitate the subsequent spatial positioning of the welding point, further improving the welding seam positioning effect;

[0055] 4. The intersection line is divided into multiple segments, each segment is further subdivided into three points, and the coordinates of each point are determined, which greatly improves the accuracy of weld positioning.

[0056] In summary, through the above-mentioned settings, the present invention completes the improvement and upgrading of the existing weld positioning method, and effectively solves the technical problems of high cost, high professionalism and strong dependence on technical personnel in the prior art when using laser positioning when manually welding intersection lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0058] Figure 1 This is a schematic diagram of the flange connection;

[0059] Figure 2 is a schematic diagram of a curved plate;

[0060] Figure 3 A schematic diagram of a weld positioning device for the intersection line of a flange pipe and an arc plate for an air cooler provided by the present invention;

[0061] Figure 4 Schematic diagram of the application of the weld positioning device for the intersection line of the flange pipe and the arc plate for the air cooler provided by the present invention Figure 1 (Show X, Y, Z directions);

[0062] Figure 5 Schematic diagram of the application of the weld positioning device for the intersection line of the flange pipe and the arc plate for the air cooler provided by the present invention Figure 2 (Showing the spatial positions of eight welding points).

[0063] Description of reference numerals:

[0064] 1. Flange pipe; 2. Arc plate; 3. Rectangular panel; 4. Positioning column; 5. X-plane positioning plate; 6. Y-plane positioning plate; 7. Intersection line. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Those skilled in the art should know that the embodiments described below are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0066] It should be noted that the main concept of the present invention is to change the arc position that is inconvenient to determine into a plane position that is easy to locate; so as to realize the rapid confirmation of the spatial position of the intersection line 7; reduce the workload of teaching programming, and greatly improve the production efficiency; accurate positioning of the intersection line 7 can improve the welding quality and ensure the integrity of the weld; greatly reduce manual participation and reduce the occurrence of welding defects. At the same time, the recognition accuracy of the intersection line 7 is higher. Through this concept, the present invention completes the improvement and upgrading of the existing weld positioning device and method to solve the technical problems of high cost, strong professionalism and strong dependence on technicians when using laser positioning when manually welding the intersection line 7 in the prior art.

[0067] After introducing the basic principle of the present invention, various non-limiting embodiments of the present invention are described in detail below. The number of any element in the drawings is for illustration and not for limitation, and any naming is only for distinction and does not have any limiting meaning.

[0068] The principle and spirit of the present invention are explained in detail below with reference to several representative embodiments of the present invention.

[0069] Embodiments of the weld positioning device for the intersection line of the flange pipe and the arc plate for an air cooler provided by the present invention:

[0070] like Figures 3 to 5 As shown, the weld positioning device for the intersection line of the flange pipe and the arc plate for the air cooler includes a rectangular frame and a positioning column 4, wherein the rectangular frame includes a rectangular panel 3 and four side panels arranged perpendicular to the four sides of the rectangular panel 3.

[0071] The positioning column 4 is fixed in the middle of the rectangular panel 3 and has the same inner diameter as the flange pipe 1 to be welded; among the four side panels, a pair of mutually parallel side panels are defined as X-plane positioning plates 5, and another pair of mutually parallel side panels are defined as Y-plane positioning plates 6, and the X-plane positioning plates 5, the Y-plane positioning plates 6 and the positioning column 4 are all located on the same side of the rectangular panel 3.

[0072] Specifically, the X-plane positioning plate 5 is kept parallel to the length direction of the arc plate 2 during the placement process, and the height of the X-plane positioning plate 5 is less than the length of the flange pipe 1 to avoid interference when the welding gun locates the weld point. The Y-plane positioning plate 6 is kept parallel to the width direction of the arc plate 2 during the placement process, and the height of the Y-plane positioning plate 6 is less than the length of the flange pipe 1 to avoid interference when the welding gun locates the weld point.

[0073] That is, the interference of the welding gun on the positioning of the weld seam and weld point after the X-plane positioning plate 5 is placed is effectively avoided; the interference of the welding gun on the positioning of the weld seam and weld point after the Y-plane positioning plate 6 is placed is also effectively avoided.

[0074] Through the cooperation of the X-plane positioning plate 5, the Y-plane positioning plate 6 and the positioning column 4, accurate positioning in all directions is completed, and then as a reference for the robot, the robot can accurately and quickly locate the intersection line 7 at the connection between the arc plate 2 and the flange pipe 1 during mass production. The entire device has a simple structure, low cost, and is easy to operate and process. It does not need to rely too much on the experience of technicians, reduces the workload of teaching programming, and greatly improves production efficiency; accurate intersection line positioning can improve welding quality and ensure that the weld is well formed; it greatly reduces manual participation and reduces the occurrence of welding defects. At the same time, the recognition accuracy of the intersection line 7 is higher.

[0075] Embodiment of the method for positioning the weld of the intersection line between the flange pipe and the arc plate for an air cooler provided by the present invention:

[0076] The weld positioning method of the intersection line of the flange pipe and the arc plate for the air cooler first selects a standard part as the standard workpiece, performs reference positioning on it, and writes the weld trajectory of the workpiece as the reference program, including the following steps:

[0077] S1: Place the workpiece on the robot welding work surface so that the width direction of the arc plate 2 is parallel to the X direction of the robot, and the length direction of the arc plate 2 is parallel to the Y direction of the robot;

[0078] S2: The weld positioning device for the intersection line of the air cooler flange pipe and the arc plate is mounted on the flange pipe 1 through the positioning column 4, and the X-plane positioning plate 5 of the positioning device is ensured to be parallel to the length direction of the arc plate 2;

[0079] S3: Positioning the workpiece in the X direction: Define the length direction of the arc plate 2 as the B side and the width direction as the A side. Move the welding gun to a point B (X B ,Y B ,Z B ), one-dimensional positioning is used to make the welding gun move along the X direction, and the welding gun touches the X-plane positioning plate 5 on the flange pipe 1. The X-axis point is recorded as X 0 ;

[0080] S4: Positioning the workpiece in the Y direction: Move the welding gun to a point A (X A ,Y A ,Z A ), one-dimensional positioning is used to move the welding gun along the Y direction, so that the welding gun touches the Y plane positioning plate 6 on the flange pipe 1, and the Y axis point is recorded as Y 0 ;

[0081] S5: Spatial positioning of welding point: Move the welding gun to the position just above welding point 1 on arc plate 2, and record the position as H1 (X 1 ,Y 1 ,Z H1 ); Use one-dimensional positioning to move the welding gun along the Z direction so that the welding gun touches the arc plate 2. The spatial position of welding point 1 is recorded as 1 (X 1 ,Y 1 ,Z 1 ); The same operation method is used to cut H just above the solder joints 2-8. 2 -H 8 The point is located in one dimension, and the welding gun is moved along the Z direction until the welding gun touches the arc plate 2. The spatial position of the welding point 2-8 is recorded as 2 (X 2 ,Y 2 ,Z 2 )、3(X 3 ,Y 3 ,Z 3 )、4(X 4 ,Y4 ,Z 4 )、5(X 5 ,Y 5 ,Z 5 )、6(X 6 ,Y 6 ,Z 6 )、7(X 7 ,Y 7 ,Z 7 )、8(X 8 ,Y 8 ,Z 8 ).

[0082] It also includes mass production weld seam positioning for new workpieces, which includes the following steps:

[0083] a: The new workpiece and the standard workpiece use the same S1, S2, S3 positioning method;

[0084] b: Perform workpiece X-direction positioning: Move the welding gun to point B (X) on the B side of arc plate 2, which is consistent with the starting point of the standard part positioning. B ,Y B ,Z B ) position, execute the one-dimensional positioning command, make the welding gun move along the X direction, the welding gun touches the positioning column 4 on the flange pipe 1, and the X-axis point is recorded as X 批 ;

[0085] c: Perform workpiece Y-direction positioning: Move the welding gun to point A (X) on the A side of the arc plate 2, which is consistent with the starting point of the standard part positioning. A ,Y A ,Z A ) position, one-dimensional positioning is used to move the welding gun along the Y direction until the welding gun touches the positioning column 4 on the flange pipe 1. The Y-axis point is recorded as Y 批 .

[0086] Furthermore, after step c, the method further comprises:

[0087] d: Starting point offset of the spatial positioning movement of the welding point: Due to the position deviation between the intersection line 7 of the flange pipe 1 and the arc plate 2 of the batch workpiece and the intersection line 7 of the standard part, the X-direction offset is: X 批 -X 0 ;Y direction offset: Y 批 -Y 0 , so H 1 -H 8 The spatial position of the offset is shifted, and the corresponding point after the offset is recorded as H 批1 -H 批8 , the spatial coordinates are (X 1 +X 批 -X 0 ,Y1 +Y 批 -Y 0 ,Z H1 )、(X 2 +X 批 -X 0 ,Y 2 +Y 批 -Y 0 ,Z H2 )、(X 3 +X 批 -X 0 ,Y 3 +Y 批 -Y 0 ,Z H3 )、(H 4 +X 批 -X 0 ,Y 4 +Y 批 -Y 0 ,Z H4 )、(X 5 +X 批 -X 0 ,Y 5 +Y 批 -Y 0 ,Z H5 )、(X 6 +X 批 -X 0 ,Y 6 +Y 批 -Y 0 ,Z H6 )、(X 7 +X 批 -X 0 ,Y 7 +Y 批 -Y 0 ,Z H7 )、(X 8 +X 批 -X 0 ,Y 8 +Y 批 -Y 0 ,Z H8 ).

[0088] After step d, the method further comprises:

[0089] e: Spatial position of welding spot: According to the starting position of the spatial positioning movement of the welding spot obtained in step d, the welding gun is positioned along the H batch 1 just above the welding spot 1 of the batch workpiece, and the welding gun is moved along the Z direction until the welding gun touches the arc plate 2. The Z-axis coordinate of the welding spot 1 of the batch workpiece is marked as Z batch 1, so the welding spot 1 (X 1 +X批 -X 0 ,Y 1 +Y 批 -Y 0 ,Z 批1 ), and similarly, the spatial position 2 (X 2 +X 批 -X 0 ,Y 2 +Y 批 -Y 0 ,Z 批2 )、3(X 3 +X 批 -X 0 ,Y 3 +Y 批 -Y 0 ,Z 批3 )、4(X 4 +X 批 -X 0 ,Y 4 +Y 批 -Y 0 ,Z 批4 )、5(X 5 +X 批 -X 0 ,Y 5 +Y 批 -Y 0 ,Z 批5 )、6(X 6 +X 批 -X 0 ,Y 6 +Y 批 -Y 0 ,Z 批6 )、7(X 7 +X 批 -X 0 ,Y 7 +Y 批 -Y 0 ,Z 批7 )、8(X 8 +X 批 -X 0 ,Y 8 +Y 批 -Y 0 ,Z 批8 );

[0090] f: Realize welding: Once the spatial position of the intersection line 7 is determined, welding can be performed.

[0091] During the robot welding process, the intersection line 7 is split into 4 space curves; the trajectory is programmed as an arc motion, and three points determine an arc, including the starting point, transition point, and end point. The end point of the previous arc is used as the starting point of the next continuous arc. Each point has spatial coordinates (X, Y, Z) in space. The specific trajectory is as follows:

[0092] Track 1: Point 1 (X 1 ,Y 1 ,Z 1 ) → Point 2 (X 2 ,Y 2 ,Z 2 ) → Point 3 (X 3 ,Y 3 ,Z 3 );

[0093] Track 2: Point 3 (X 3 ,Y 3 ,Z 3 ) → Point 4 (X 4 ,Y 4 ,Z 4 ) → Point 5 (X 5 ,Y 5 ,Z 5 );

[0094] Track 3: Point 5 (X 5 ,Y 5 ,Z 5 ) → Point 6 (X 6 ,Y 6 ,Z 6 ) → Point 7 (X 7 ,Y 7 ,Z 7 );

[0095] Track 4: Point 7 (X 7 ,Y 7 ,Z 7 ) → point 8 (X 8 ,Y 8 ,Z 8 ) → Point 1 (X 1 ,Y 1 ,Z 1 ).

[0096] Therefore, if Figure 5 As shown, each intersecting line 7 needs to determine the spatial positions of 8 points, which are the positions indicated by the arrows of the eight welding points ①, ②, ③, ④, ⑤, ⑥, ⑦, and ⑧, respectively, to characterize the welding point sequence of the intersecting line.

[0097] The intersection line 7 is divided into multiple segments, each segment is further divided into three points, and the coordinates of each point are determined, which greatly improves the accuracy of weld positioning.

[0098] At the same time, the positioning movement is divided into one-dimensional, two-dimensional and three-dimensional. When the welding wire at the end of the robot's welding gun touches the workpiece, the welding machine will receive voltage feedback and record the current position.

[0099] Among them, one-dimensional positioning moves along a straight line; two-dimensional positioning moves along two directions in a plane; and three-dimensional positioning moves along three directions in space.

[0100] A standard part is selected as the reference positioning, and the weld positioning device of the intersection line of the flange pipe and the arc plate of the air cooler is used to position the X direction, Y direction and space direction, and the corresponding welding point position is recorded. The robot can accurately and quickly locate the intersection line 7 of the connection between the arc plate 2 and the flange pipe 1 during the batch production process, which reduces the workload of teaching programming. The whole operation process is simple and does not need to rely too much on the experience of technicians, which greatly improves the production efficiency. Accurate intersection line positioning can improve the welding quality and ensure the weld is well formed; it reduces the occurrence of welding defects. At the same time, the recognition accuracy of the intersection line 7 is higher.

[0101] According to the above description of this specification, those skilled in the art may also understand that the terms used below, such as "up", "down", "front", "back", "left", "right", "width", "horizontal", "top", "bottom", "inside", "outside" and the like, which indicate orientation or positional relationships, are based on the orientation or positional relationships shown in the drawings of this specification, and are only for the purpose of facilitating the explanation of the scheme of the present invention and simplifying the description, rather than explicitly or implicitly indicating that the devices or elements involved must have the specific orientation, be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms cannot be understood or interpreted as limitations on the scheme of the present invention.

[0102] In addition, in the description of this specification, “plurality” means at least two, for example, two, three or more, etc., unless otherwise clearly and specifically defined.

Claims

1. A method for positioning the weld of the intersection line between the flange pipe and the arc plate for an air cooler, characterized in that: First, select a standard part as the standard workpiece, perform reference positioning on it, and program the weld trajectory of the workpiece as the reference program, including the following steps: S1: Place the workpiece on the robot welding work surface so that the width direction of the arc plate is parallel to the X direction of the robot, and the length direction of the arc plate is parallel to the Y direction of the robot; S2: Put the weld positioning device of the intersection line between the flange pipe and the arc plate of the air cooler on the flange pipe through the positioning column, and ensure that the X-plane positioning plate of the positioning device is parallel to the length direction of the arc plate; S3: Positioning the workpiece in the X direction: define the length direction of the arc plate as the B side and the width direction as the A side, move the welding gun to a point B on the B side of the arc plate (X B ,Y B ,Z B ), one-dimensional positioning is used to make the welding gun move along the X direction, and the welding gun touches the X-plane positioning plate on the flange pipe, and the X-axis point is recorded as X0; S4: Positioning the workpiece in the Y direction: Move the welding gun to a point A (X A ,Y A ,Z A ), use one-dimensional positioning to move the welding gun along the Y direction, so that the welding gun touches the Y plane positioning plate on the flange pipe, and the Y axis point is recorded as Y0; S5: Spatial positioning of welding point: Move the welding gun to the top of welding point 1 on the arc plate, and record the point as H1 (X1, Y1, Z H1 ); Use one-dimensional positioning to move the welding gun along the Z direction so that the welding gun touches the arc plate, and the spatial position of welding point 1 is recorded as 1 (X1, Y1, Z1); The same operation method is used along the H2-H8 points just above welding points 2-8, respectively. Use one-dimensional positioning to move the welding gun along the Z direction so that the welding gun touches the arc plate, and the spatial positions of welding points 2-8 are recorded as 2 (X2, Y2, Z2), 3 (X3, Y3, Z3), 4 (X4, Y4, Z4), 5 (X5, Y5, Z5), 6 (X6, Y6, Z6), 7 (X7, Y7, Z7), 8 (X8, Y8, Z8); A weld positioning device for the intersection line of a flange pipe and an arc plate for an air cooler comprises: a rectangular frame, which comprises a rectangular panel and four side panels arranged perpendicular to four sides of the rectangular panel; A positioning column, which is fixed in the middle of the rectangular panel and has the same inner diameter as the flange pipe to be welded; it is defined that among the four side panels, a pair of mutually parallel side panels are X-plane positioning plates, and another pair of mutually parallel side panels are Y-plane positioning plates, and the X-plane positioning plate, the Y-plane positioning plate and the positioning column are all located on the same side of the rectangular panel; the X-plane positioning plate remains parallel to the length direction of the arc plate during the placement process, and the height of the X-plane positioning plate is less than the length of the flange pipe to avoid interference when the welding gun locates the weld point of the weld; the Y-plane positioning plate remains parallel to the width direction of the arc plate during the placement process, and the height of the Y-plane positioning plate is less than the length of the flange pipe to avoid interference when the welding gun locates the weld point of the weld.

2. The method for positioning the weld of the intersection line between the flange pipe and the arc plate for an air cooler according to claim 1, characterized in that: It also includes mass production weld seam positioning for new workpieces, which includes the following steps: a: The new workpiece and the standard workpiece use the same S1, S2, S3 positioning method; b: Perform workpiece X-direction positioning: Move the welding gun to point B (X) on the arc plate B side that is consistent with the standard part positioning starting point. B ,Y B ,Z B ) position, execute the one-dimensional positioning command, make the welding gun move along the X direction, the welding gun touches the positioning column on the flange pipe, and the X-axis point is recorded as X 批 ; c: Perform workpiece Y-direction positioning: Move the welding gun to point A (X A ,Y A ,Z A ) position, one-dimensional positioning is used to move the welding gun along the Y direction until the welding gun touches the positioning column on the flange pipe. The Y-axis point is recorded as Y 批 .

3. The method for positioning the weld of the intersection line between the flange pipe and the arc plate for an air cooler according to claim 2, characterized in that: After step c, the method further comprises: d: The starting point offset of the spatial positioning movement of the welding point: Due to the position deviation between the intersection line of the flange pipe of the batch workpiece and the arc plate and the intersection line of the standard part, the X direction offset is: X 批 -X0; Y direction offset: Y 批 -Y0, so the spatial position of H1-H8 is offset, and the corresponding point after offset is recorded as H 批1 -H 批8 , the spatial coordinates are (X1+X 批 -X0,Y1+Y 批 -Y0,Z H1 )、(X2+X 批 -X0,Y2+Y 批 -Y0,Z H2 )、(X3+X 批 -X0,Y3+Y 批 -Y0,Z H3 )、(H4+X 批 -X0,Y4+Y 批 -Y0,Z H4 )、(X5+X 批 -X0,Y5+Y 批 -Y0,Z H5 )、(X6+X 批 -X0,Y6+Y 批 -Y0,Z H6 )、(X7+X 批 -X0,Y7+Y 批 -Y0,Z H7 )、(X8+X 批 -X0,Y8+Y 批 -Y0,Z H8 ).

4. The method for positioning the weld of the intersection line between the flange pipe and the arc plate for an air cooler according to claim 3, characterized in that: After step d, the method further comprises: e: Solder spot spatial position search: According to the starting position of the weld spot spatial positioning movement obtained in step d, the welding gun moves along the H just above the weld spot 1 of the batch workpiece. 批1 Using one-dimensional positioning, the welding gun moves along the Z direction until the welding gun touches the arc plate, and the Z-axis coordinate of the welding point 1 of the batch workpiece is marked as Z 批1 , so the welding point 1 (X1+X 批 -X0,Y1+Y 批 -Y0,Z 批1 ), and similarly, the spatial position 2 (X2+X 批 -X0,Y2+Y 批 -Y0,Z 批2 )、3(X3+X 批 -X0,Y3+Y 批 -Y0,Z 批3 )、4(X4+X 批 -X0,Y4+Y 批 -Y0,Z 批4 )、5(X5+X 批 -X0,Y5+Y 批 -Y0,Z 批5 )、6(X6+X 批 -X0,Y6+Y 批 -Y0,Z 批6 )、7(X7+X 批 -X0,Y7+Y 批 -Y0,Z 批7 )、8(X8+X 批 -X0,Y8+Y 批 -Y0,Z 批8 ); f: Realize welding: Once the spatial position of the intersection line is determined, welding can be carried out.

5. The method for positioning the weld of the intersection line between the flange pipe and the arc plate for an air cooler according to any one of claims 1 to 4, characterized in that: During the robot welding process, the intersection line is split into 4 space curves; the trajectory is programmed as arc motion, and three points determine an arc, including the starting point, transition point, and end point. The end point of the previous arc is used as the starting point of the next continuous arc. Each point has spatial coordinates (X, Y, Z) in space. The specific trajectory is as follows: Trajectory 1: Point 1 (X1, Y1, Z1) → Point 2 (X2, Y2, Z2) → Point 3 (X3, Y3, Z3); Trajectory 2: Point 3 (X3, Y3, Z3) → Point 4 (X4, Y4, Z4) → Point 5 (X5, Y5, Z5); Trajectory 3: Point 5 (X5, Y5, Z5) → Point 6 (X6, Y6, Z6) → Point 7 (X7, Y7, Z7); Trajectory 4: Point 7 (X7, Y7, Z7) → Point 8 (X8, Y8, Z8) → Point 1 (X1, Y1, Z1).

6. The method for positioning the weld of the intersection line between the flange pipe and the arc plate for an air cooler according to claim 5, characterized in that: Positioning motion is divided into one-dimensional, two-dimensional and three-dimensional. When the welding wire at the end of the robot welding gun touches the workpiece, the welding machine receives voltage feedback and then records the current position; One-dimensional positioning moves along a straight line; Two-dimensional positioning is linear motion in two directions in a plane; Three-dimensional positioning is linear motion in three directions in space.

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