Product spot welding fixing method, system and device

Abstract

The invention relates to a product spot welding fixing method, system and device, relates to the field of welding technologies, and is used for carrying a tank bottom, a tank body and a tank top to a spot welding station through cooperation of a grabbing device, a carrying device, a lifting device and the like and carrying out spot welding connection on the tank bottom, the tank body and the tank top. The spot welding device has the effects that spot welding convenience is improved, and parts of the gas tank can be automatically carried.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and in particular to a product spot welding fixing method, system and device. Background Art

[0002] Spot welding is a resistance welding method that uses electrodes to form a weld between the contact surfaces of two overlapping workpieces to connect the workpieces.

[0003] The manufacture of gas tanks generally requires the use of spot welding technology. Gas tanks generally consist of three parts: the tank top, the tank body and the tank bottom. The tank top is generally equipped with pipes for input and output. The tank top and the tank body, as well as the tank body and the tank bottom are sealed and connected by electric welding. Before welding the tank top, tank body and tank bottom, the tank top, tank body and tank bottom are generally pre-connected and fixed by spot welding to facilitate subsequent continuous welding.

[0004] When spot welding the tank top, tank body and tank bottom, workers need to use a vehicle such as a trolley to carry the tank top, tank body and tank bottom to the location of the spot welding device and adjust the posture of the tank top, tank body and tank bottom for spot welding and fixing, which is time-consuming and laborious. Summary of the invention

[0005] In order to improve the convenience of spot welding and automatically carry the parts of a gas tank, the present invention provides a product spot welding fixing method, system and device.

[0006] In a first aspect, the present invention provides a product spot welding fixing method, which adopts the following technical solution: A product spot welding fixing method, comprising: Get part images; Determine whether the part is a can body from a preset can body recognition model according to the part image; When the part is a tank body, the tank body length is matched from a preset tank body length matching model according to the part image; Matching the stick number from a preset stick number matching model according to the tank length; Controlling a preset grabbing device to grab a preset stick according to the stick number, and judging whether the can is in an upright state from a preset upright posture recognition model according to the part image; When the tank body is in an upright state, the dumping stroke is matched from a preset dumping stroke matching model according to the part image; Controlling a preset grabbing device to dump the can body through a stick body according to the dumping stroke, and obtaining a dumping image of the can body to update the part image; Based on the fact that the part is not in an upright state, the tank transport stroke is matched from a preset tank transport stroke matching model according to the part image; According to the tank body conveying stroke, a preset grabbing device is controlled to convey the tank body to a preset spot welding station through a stick body.

[0007] By adopting the above technical solution, the stick body is grasped by the grasping device, so that the posture of the stick body is controlled by the grasping device, and then the stick body is inserted into the cavity in the middle of the tank body to adjust the placement of the tank body and move the tank body to the spot welding station for spot welding operation, thereby improving the convenience of spot welding.

[0008] Optionally, a tank bottom transportation method is also included, and the tank bottom transportation method includes: Determine whether the part is a tank bottom according to the part image from a preset tank bottom recognition model; When the part is a can bottom, a placement posture is matched from a preset placement posture matching model according to the part image, and the placement posture includes a normal placement state; When the placement posture is in the upright state, the pressing position is matched from the preset pressing position matching model according to the part image; Matching the pressing stroke from a preset pressing stroke matching model according to the pressing position and the part image; Controlling a preset pressing device to press one end of the part to tilt the other end of the part according to the pressing stroke, and matching the loading stroke from a preset loading stroke matching model according to the pressing position and the part image; Control a preset handling device to enter the tilted end of the part according to the loading stroke, control a preset pressing device to detach from the part according to the pressing stroke, and match the tank bottom handling stroke from a preset tank bottom handling stroke matching model according to the part image; According to the tank bottom conveying stroke, the preset conveying device is controlled to convey the tank bottom to the preset spot welding station.

[0009] By adopting the above technical solution, a pressing device presses one end of the tank bottom to make the tank bottom tilt up, and a conveying device is controlled to enter the tilted end of the tank bottom so that the tank bottom falls onto the conveying device when not pressed by the pressing device, and then the tank bottom is conveyed to the spot welding station by the conveying device for spot welding operation, thereby improving the convenience of spot welding.

[0010] Optionally, the placement posture further includes an inverted state, and the tank bottom transport method further includes: When the placement posture is in the reversed state, the gap position is identified from a preset gap position identification model according to the part image; Matching the blocking stroke from a preset blocking stroke matching model according to the gap position and the part image; Controlling a preset blocking device to block one end of the part according to the blocking stroke, and matching the insertion stroke from a preset insertion stroke matching model according to the gap position; Control the preset lifting device to insert into the gap position according to the insertion stroke, and match the lifting height from the preset lifting height matching model according to the part image; Control the preset lifting device to lift the parts according to the lifting height, and match the moving stroke from the preset loading stroke matching model according to the gap position and the part image; According to the moving stroke, the preset transport device is controlled to enter one end of the lifted part, and according to the lifting height and the interlacing stroke, the preset lifting device is controlled to detach from the part, and according to the blocking stroke, the preset blocking device is controlled to detach from the part.

[0011] By adopting the above technical scheme, one side of the tank bottom is blocked by the blocking device, thereby reducing the slippage of the tank bottom when the lifting device penetrates into the tank bottom and lifts the tank bottom, thereby improving the lifting stability, and after the tank bottom is lifted by the lifting device, the transport device is controlled to enter the lifted end of the tank bottom, so that when the lifting device is separated from the tank bottom, the tank bottom falls onto the transport device, and then the tank bottom is transported to the electric welding station by the transport device for spot welding operation, thereby improving the convenience of spot welding.

[0012] Optionally, a tank top transport method is also included, and the tank top transport method includes: Determine whether the part is a tank top from a preset tank top recognition model according to the part image; When the part is a tank top, the pipeline feature is identified from a preset pipeline feature recognition model according to the part image; Matching the grabbing stroke from a preset grabbing stroke matching model based on pipeline characteristics; Controlling a preset grabbing device to grab pipeline features according to the grabbing stroke, and matching the tank top handling stroke from a preset tank top handling stroke matching model according to the pipeline features and the part image; According to the tank top transport stroke, the preset grabbing device is controlled to transport the tank top to the preset spot welding station.

[0013] By adopting the above technical solution, the pipe on the tank top is identified through image recognition, so that the pipe is grasped by a grasping device and then the tank top is grasped, and the tank top is transported to the welding station by the grasping device for spot welding operation, thereby improving the convenience of spot welding.

[0014] Optionally, a spot welding method is also included, and the spot welding method includes: Acquire the workstation image of the spot welding station; Judging whether there is a tank body at the spot welding station from a preset tank body recognition model according to the station image; When there is a tank body on the spot welding station, the tank body features are identified from a preset tank body feature recognition model according to the station image, and whether there is a tank bottom on the spot welding station is determined from a preset tank bottom recognition model according to the station image; When there is a tank bottom on the spot welding station, the tank bottom features are identified from a preset tank bottom feature recognition model according to the station image; Matching the compaction stroke from a preset compaction stroke matching model based on the tank body characteristics and tank bottom characteristics; Controlling a preset pressing device according to the pressing stroke to press the tank bottom against the tank body, and matching the tank bottom weight from a preset tank bottom weight matching model based on the tank bottom characteristics; According to the tank bottom weight, the number of spot welds of the tank bottom is matched from a preset spot weld number matching model; Matching the tank bottom spot welding stroke from the preset spot welding model based on the tank body features, tank bottom features and the number of tank bottom spot weldings; According to the tank bottom spot welding stroke, the preset spot welding device is controlled to evenly spot weld and connect the tank bottom and the tank body.

[0015] By adopting the above technical solution, the tank bottom is pressed against the tank body by the pressing device, thereby reducing the gap between the tank body and the tank bottom, and the minimum number of spot welds required to fix the tank bottom to the tank body is selected according to the weight of the tank bottom, so that the tank bottom is evenly welded and fixed to the tank body according to the number of spot welds, thereby improving the stability of the connection between the tank bottom and the tank bottom.

[0016] Optionally, the spot welding method further comprises: When there is no tank bottom on the spot welding station, it is determined whether there is a tank top on the spot welding station from a preset tank top recognition model according to the station image; When there is a tank top on the spot welding station, the tank top features are identified from a preset tank top feature recognition model according to the station image; Matching the close-fitting stroke from a preset close-fitting stroke matching model based on the tank body characteristics and the tank top characteristics; Controlling a preset gripping device to closely fit the tank top and the tank body according to the close fitting stroke, and matching the tank top weight from a preset tank top weight matching model based on the tank top features; According to the tank top weight, the number of tank top welds is matched from a preset spot weld number matching model; Matching the tank vertex welding stroke from the preset spot welding model based on the tank body features, tank top features and the number of tank vertex welds; According to the tank top welding stroke, the preset spot welding device is controlled to evenly spot weld and connect the tank top and the tank body.

[0017] By adopting the above technical solution, the pipe is grasped by the grasping device and the tank top is pressed against the tank body, thereby reducing the gap between the tank body and the tank top, and the minimum number of spot welds required to fix the tank top to the tank body is selected according to the weight of the tank top, so that the tank top is evenly welded and fixed to the tank body according to the number of spot welds, thereby improving the stability of the connection between the tank top and the tank bottom.

[0018] Optionally, a tank top adjustment method is also included, and the tank top adjustment method includes: When there is a tank top on the spot welding station, the grabbing features are identified from the preset pipeline feature recognition model based on the tank top features; Match the pipeline angle from the preset pipeline orientation matching model based on the captured features; When the pipe angle exceeds the preset placement range, an adjustment angle is matched from a preset adjustment angle matching model according to the pipe angle; Matching the adjustment stroke from a preset adjustment stroke matching model based on the grasping feature and the adjustment angle; The preset grabbing device is controlled according to the adjustment stroke to grab the tank top and rotate it.

[0019] By adopting the above technical solution, the pipes on the tank top cause uneven mass distribution of the tank top. When the tank top is not placed properly, the tank top is prone to rolling. The placement posture of the tank top is judged by the direction of the pipes, and the placement posture of the tank top is corrected by the grabbing device, thereby improving the stability of the tank top on the spot welding station.

[0020] Optionally, a stick body splicing method is also included, and the stick body splicing method includes: When the length of the tank exceeds the preset transport length range, the splicing number is matched from the preset splicing number matching model according to the length of the tank; Matching the splicing itinerary from a preset splicing itinerary matching model according to the splicing number; According to the splicing stroke, the preset grabbing device is controlled to move the stick bodies to the preset splicing stations in sequence, and the preset splicing device is controlled to splice the stick bodies into a splicing stick; The preset grabbing device is controlled to grab the splicing rod and carry the tank body through the splicing rod.

[0021] By adopting the above technical solution, when the tank body is too long, carrying the tank body by the existing shorter stick may easily cause the tank body to slip off the stick. Multiple sticks are spliced ​​together by a splicing device to form a longer splicing stick, and the tank body is carried by the splicing stick, thereby improving the stability of tank carrying.

[0022] In the second aspect, the present application provides a product spot welding fixing system, which adopts the following technical solution: A product spot welding fixing system, comprising: An acquisition module, used to acquire part images, dumping images and workstation images; A memory for storing a program for any of the above-mentioned spot welding fixing methods for the products; The program in the processor and the memory can be loaded and executed by the processor to implement any of the above-mentioned product spot welding fixing methods.

[0023] In a third aspect, the present application provides a product spot welding fixing device, which adopts the following technical solution: A product spot welding fixing device comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any of the above-mentioned product spot welding fixing methods.

[0024] By adopting the above technical solution, the stick body is grasped by the grasping device, so that the posture of the stick body is controlled by the grasping device, and then the stick body is inserted into the cavity in the middle of the tank body to adjust the placement of the tank body and move the tank body to the spot welding station for spot welding operation, thereby improving the convenience of spot welding.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: The stick body is grasped by the grasping device, so that the posture of the stick body is controlled by the grasping device, and then the stick body is inserted into the cavity in the middle of the tank body to adjust the placement state of the tank body and carry the tank body to the spot welding station for spot welding operation, thereby improving the convenience of spot welding; The pressing device presses one end of the tank bottom to make the tank bottom tilt up and controls the transport device to enter the tilted end of the tank bottom so that the tank bottom falls onto the transport device when it is not pressed by the pressing device, and then the tank bottom is transported to the spot welding station by the transport device for spot welding operation, thereby improving the convenience of spot welding; The pipes on the tank top are identified through images, and then the tank top is grabbed by a grabbing device, and the tank top is transported to the welding station by the grabbing device for spot welding operation, thereby improving the convenience of spot welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a flow chart of a method for spot welding and fixing a product; Figure 2 The process of tank bottom handling method Figure 1 ; Figure 3 The process of tank bottom handling method Figure 2 ; Figure 4 It is a flow chart of the tank top handling method; Figure 5 The process of spot welding method Figure 1 ; Figure 6 The process of spot welding method Figure 2 ; Figure 7 It is a flow chart of the tank top adjustment method; Figure 8 It is a flow chart of the stick splicing method. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the following Figure 1 -Attached Figure 8 It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] The embodiments of the present application disclose a product spot welding fixing method, system and device, which are used to transport the tank bottom, tank body and tank top to the spot welding station through the cooperation of a grabbing device, a conveying device and a lifting device, and spot weld the tank bottom, tank body and tank top, thereby improving the convenience of spot welding.

[0029] Reference Figure 1 , a product spot welding fixing method, comprising the following steps: Step 100: Acquire a part image.

[0030] The part image refers to a picture of the tank bottom, tank body or tank top of the gas tank to be spot welded and fixed. The part image can be obtained through a camera. The method for obtaining the part image is selected by the staff according to the actual situation and will not be elaborated here.

[0031] Step 101: judging whether the part is a can body from a preset can body recognition model according to the part image.

[0032] The tank body recognition model refers to a neural network model obtained through sample training in advance. The tank body recognition model can recognize whether an object in a part image is a tank body.

[0033] Step 102: When the part is a tank body, the tank body length is matched from a preset tank body length matching model according to the part image.

[0034] The tank length matching model refers to a neural network model obtained through sample training in advance. The tank length matching model can identify the tank length of the tank in the part image.

[0035] Step 103: Match the stick number from a preset stick number matching model according to the tank length.

[0036] The stick number refers to a digital number assigned in advance to distinguish the sticks, and each stick number corresponds to the stick one by one. The stick number matching model refers to a neural network model obtained in advance through sample training. The stick number matching model can match the minimum stick length required for the tank body to carry the length of the tank body, and match the stick number of the stick closest to the stick length, wherein the minimum stick length required for carrying the tank body means that when the stick is inserted into the cavity in the tank body and the tank body is lifted, the tank body is not easy to slide off the stick body, that is, the center of gravity of the tank body is exactly located at the end of the stick body.

[0037] Step 104: controlling a preset grasping device to grasp a preset stick according to the stick number, and judging whether the can body is in an upright state from a preset upright posture recognition model according to the part image.

[0038] The grasping device refers to a device used to grasp the stick body to drive the stick body to move. The grasping device can adopt a three-jaw chuck. The grasping device is selected by the staff according to the actual situation and will not be described in detail here.

[0039] The upright posture recognition model refers to a neural network model obtained through sample training in advance. The upright posture recognition model can determine whether the tank body in the part image is in an upright state, wherein the upright state refers to a situation in which the cavity opening of the tank body faces the ground.

[0040] Step 105: When the tank body is in an upright state, a dumping stroke is matched from a preset dumping stroke matching model according to the part image.

[0041] The dumping stroke matching model refers to a neural network model obtained through sample training in advance. The dumping stroke matching model can match the dumping stroke of slowly dumping an upright tank body by controlling a stick body through a grasping device.

[0042] Step 106: Control a preset grasping device to dump the can body through the stick body according to the dumping stroke, and obtain a dumping image of the can body to update the part image.

[0043] The stick is inserted into the cavity of the tank body by controlling the gripping device, and then the stick is gradually tilted to drive the stick body to collide with the inner wall of the tank body, thereby driving the tank body to tilt and tip over to the ground. The tipping image refers to a picture of the tank body obtained after the tank body is tipped over by controlling the stick body by the gripping device. The tipping image can be obtained through a camera. The method for obtaining the tipping image is selected by the staff according to the actual situation and will not be described in detail here.

[0044] Step 107: Based on the fact that the part is not in an upright state, the tank transport stroke is matched from a preset tank transport stroke matching model according to the part image.

[0045] The spot welding station refers to a pre-set position for spot welding operations. The spot welding station is generally provided with brackets for placing the tank bottom, tank body and tank top. The spot welding station is selected by the staff according to the actual situation, which will not be described here. The tank body handling stroke matching model refers to a neural network model obtained through sample training in advance. The tank body handling stroke matching model can match the tank body handling stroke that controls the tank body to be transported to the spot welding station through the gripping device.

[0046] Step 108: According to the tank body transporting stroke, a preset grabbing device is controlled to transport the tank body to a preset spot welding station through a stick body.

[0047] The stick is inserted into the cavity of the overturned tank body through the gripping device, and the stick is controlled to be lifted while maintaining the insertion angle of the stick, so that the tank body is lifted and transported to the spot welding station. When the stick is inserted into the cavity of the tank body through the gripping device, the end of the stick away from the gripping device can be controlled by the gripping device to tilt in a direction away from the ground so that the tank body slides toward the gripping device during the transportation of the stick body, thereby reducing the situation where the tank body slips off the stick body.

[0048] Reference Figure 2 The tank bottom handling method includes the following steps: Step 200: judging whether the part is a can bottom from a preset can bottom recognition model according to the part image.

[0049] The tank bottom recognition model refers to a neural network model obtained through sample training in advance. The tank bottom recognition model can recognize whether an object in a part image is a tank bottom.

[0050] Step 201: When the part is a can bottom, a placement posture is matched from a preset placement posture matching model according to the part image, and the placement posture includes a normal state.

[0051] The placement posture matching model refers to a neural network model obtained through sample training in advance. The placement posture matching model can identify the placement posture of the bottom of the can in the part image, where the placement posture includes an upright state and an inverted state. The bottom of the can is generally hemispherical. The upright state means that the opening of the bottom of the can faces the side away from the ground, and the inverted state means that the opening of the bottom of the can faces the side close to the ground.

[0052] Step 202: When the placement posture is in the upright state, the pressing position is matched from a preset pressing position matching model according to the part image.

[0053] The pressing device refers to a device used to press the edge of the bottom of the can to make one end of the bottom of the can tilt up. The pressing device is selected by the staff according to the actual situation and will not be described in detail here. The pressing position matching model refers to a neural network model obtained through sample training in advance. The pressing position matching model can match the pressing position of the can bottom tilted by pressing the pressing device.

[0054] Step 203: Match the pressing stroke from a preset pressing stroke matching model according to the pressing position and the part image.

[0055] The pressing stroke matching model refers to a neural network model obtained in advance through sample training. The pressing stroke matching model can match the pressing stroke that the pressing device goes through according to the pressing position.

[0056] Step 204: Control a preset pressing device to press one end of the part to lift the other end of the part according to the pressing stroke, and match the loading stroke from a preset loading stroke matching model according to the pressing position and the part image.

[0057] The handling device refers to a device used to carry the tank bottom to the welding station. The handling device is selected by the staff according to the actual situation and will not be described in detail here. The loading stroke matching model refers to a neural network model obtained through sample training in advance. The loading stroke matching model can match the lifting end of the handling device into the tank bottom so that the tank bottom falls into the loading stroke of the handling device when it is put down.

[0058] Step 205: Control the preset transport device to enter the raised end of the part according to the loading stroke, control the preset pressing device to detach from the part according to the pressing stroke, and match the tank bottom transport stroke from the preset tank bottom transport stroke matching model according to the part image.

[0059] The tank bottom transport stroke matching model refers to a neural network model obtained through sample training in advance. The tank bottom transport stroke matching model can match the tank bottom transport stroke that the tank bottom passes through when being transported to the spot welding station by the transport device.

[0060] Step 206: Control a preset conveying device according to the tank bottom conveying stroke to convey the tank bottom to a preset spot welding station.

[0061] When the tank bottom is placed upright, the tank bottom is tilted by the pressing device, and when the tank bottom is tilted, the conveying device is controlled to enter the tilted side of the tank bottom so that the tilted end of the tank bottom falls into the conveying device, thereby loading the tank bottom onto the conveying device, and then conveying the tank bottom to the spot welding station through the conveying device.

[0062] Reference Figure 3 The tank bottom handling method further comprises the following steps: Step 207: When the placement posture is in the reversed state, the gap position is identified from a preset gap position identification model according to the part image.

[0063] The gap position recognition model refers to a neural network model obtained in advance through sample training. The gap position recognition model can recognize the gap position with the largest gap between the tank bottom and the ground.

[0064] Step 208: Match the blocking stroke from a preset blocking stroke matching model according to the gap position and the part image.

[0065] The blocking device refers to a device used to block one end of the tank bottom to reduce the slippage of the tank bottom during the lifting process. The blocking device is selected by the staff according to the actual situation and will not be described in detail here. The blocking stroke matching model refers to a neural network model obtained through sample training in advance. The blocking stroke matching model can match the blocking stroke of the side of the tank bottom away from the gap position through the blocking device.

[0066] Step 209: Control a preset blocking device to block one end of the part according to the blocking stroke, and match the insertion stroke from a preset insertion stroke matching model according to the gap position.

[0067] The lifting device refers to a device used to lift the bottom of the tank to facilitate loading the tank bottom onto the handling device. The end of the lifting device is thinner, and the end of the lifting device is inserted between the bottom of the tank and the ground, and then one side of the tank bottom is lifted by the lifting device. The lifting device is selected by the staff according to the actual situation, and it will not be described here. The interspersed stroke matching model refers to a neural network model obtained through sample training in advance. The interspersed stroke matching model can match the interspersed stroke that controls the lifting device to insert into the gap position.

[0068] Step 210: Control the preset lifting device to insert into the gap position according to the insertion stroke, and match the lifting height from the preset lifting height matching model according to the part image.

[0069] The lifting height matching model refers to a neural network model obtained through sample training in advance. The lifting height matching model can match the lifting height that the bottom of the tank needs to be lifted to facilitate the handling device to enter the lifted end of the bottom of the tank.

[0070] Step 211: Control a preset lifting device to lift the part according to the lifting height, and match the moving stroke from a preset loading stroke matching model according to the gap position and the part image.

[0071] The loading stroke matching model refers to a neural network model obtained in advance through sample training. The loading stroke matching model can match the moving stroke that controls the handling device to enter the lower part of the lifted end of the tank bottom.

[0072] Step 212: Control the preset transport device to enter one end of the part lifting according to the moving stroke, control the preset lifting device to detach from the part according to the lifting height and the interlacing stroke, and control the preset blocking device to detach from the part according to the blocking stroke.

[0073] When the handling device enters under the lifted end of the tank bottom, the lifting device is controlled to cancel the lifting of the tank bottom so that the tank bottom falls and falls onto the handling device. At this time, the tank bottom can be pushed by the blocking device so that the tank bottom completely enters the handling device, thereby facilitating the handling device to carry the tank bottom to the spot welding station.

[0074] Reference Figure 4 , the tank top handling method includes the following steps: Step 300: judging whether the part is a tank top from a preset tank top recognition model according to the part image.

[0075] The tank top recognition model refers to a neural network model obtained through sample training in advance. The tank top recognition model can recognize whether an object in a part image is a tank top.

[0076] Step 301: When the part is a tank top, pipeline features are identified from a preset pipeline feature recognition model according to the part image.

[0077] The pipeline feature recognition model refers to a neural network model obtained through sample training in advance. The pipeline feature recognition model can recognize the pipeline features on the tank top in the part image.

[0078] Step 302: Matching a grabbing stroke from a preset grabbing stroke matching model based on the pipeline characteristics.

[0079] The grasping stroke matching model refers to a neural network model obtained through sample training in advance. The grasping stroke matching model can match the grasping stroke for grasping the pipeline features through the grasping device.

[0080] Step 303: Control the preset grabbing device to grab the pipeline feature according to the grabbing stroke, and match the tank top handling stroke from the preset tank top handling stroke matching model according to the pipeline feature and the part image.

[0081] The tank top transport stroke matching model refers to a neural network model obtained through sample training in advance. The tank top transport stroke matching model can match the tank top transport stroke of transporting the tank top to the spot welding station after the grasping device grasps the pipeline features.

[0082] Step 304: Control a preset grabbing device according to the tank top transporting stroke to transport the tank top to a preset spot welding station.

[0083] The tank top is grasped by grasping the pipeline feature through the grasping device, and then the tank top is transported to the spot welding station through the grasping device, thereby improving the convenience of the spot welding operation.

[0084] Reference Figure 5 , the spot welding method comprises the following steps: Step 400: Acquire a workstation image of a spot welding workstation.

[0085] The workstation image refers to the picture on the spot welding workstation. The workstation image can be obtained through a camera. The method of obtaining the workstation image is selected by the staff according to the actual situation and will not be elaborated here.

[0086] Step 401: judging whether there is a tank body at the spot welding station from a preset tank body recognition model according to the station image.

[0087] The tank body recognition model is used to determine whether there is a tank body in the workstation image, that is, whether there is a tank body at the spot welding station.

[0088] Step 402: When there is a can body on the spot welding station, the can body features are identified from a preset can body feature recognition model according to the station image, and whether there is a can bottom on the spot welding station is determined from a preset can bottom recognition model according to the station image.

[0089] The tank feature recognition model refers to a neural network model obtained through sample training in advance. The tank feature recognition model can recognize the tank features in the workstation image. The tank bottom recognition model determines whether there is a tank bottom in the workstation image, that is, whether there is a tank bottom on the spot welding station.

[0090] Step 403: When there is a tank bottom on the spot welding station, the tank bottom features are identified from a preset tank bottom feature recognition model according to the station image.

[0091] When there are tank bodies and tank bottoms on the spot welding station, it means that there are parts that need to be spot welded. The tank bottom feature recognition model refers to a neural network model obtained through sample training in advance. The tank bottom feature recognition model can recognize the tank bottom features in the station image.

[0092] Step 404: Match the compaction stroke from a preset compaction stroke matching model based on the tank body features and the tank bottom features.

[0093] The clamping device refers to a device used to clamp the tank bottom and the tank body to reduce the gap between the tank bottom and the tank body. The clamping device is selected by the staff according to the actual situation and will not be described here. The clamping stroke matching model refers to a neural network model obtained through sample training in advance. The clamping stroke matching model can match the clamping stroke of the tank bottom and the tank body through the clamping device.

[0094] Step 405: Control a preset pressing device to press the tank bottom against the tank body according to the pressing stroke, and match the tank bottom weight from a preset tank bottom weight matching model based on the tank bottom characteristics.

[0095] The tank bottom weight matching model refers to a neural network model obtained through sample training in advance. The tank bottom weight matching model can match the tank bottom weight from the volume and material of the tank bottom in the workpiece image.

[0096] Step 406: matching the number of spot welds on the tank bottom from a preset spot weld number matching model according to the tank bottom weight.

[0097] The spot weld number matching model refers to a neural network model obtained through sample training in advance. The spot weld number matching model can match the minimum number of tank bottom spot welds required to fix the tank bottom with tank bottom weight to the tank body.

[0098] Step 407: matching the tank bottom spot welding stroke from a preset spot welding model based on the tank body features, tank bottom features and the number of tank bottom spot welds.

[0099] The spot welding device refers to a device used to spot weld the tank body and the tank top or the tank body and the tank bottom. The spot welding device is selected by the staff according to the actual situation and will not be described here. The spot welding model refers to a neural network model obtained through sample training in advance. The spot welding model can match the tank bottom spot welding stroke that evenly spot welds the tank body and the tank bottom in the circumferential direction according to the number of tank bottom spot welds through the spot welding device.

[0100] Step 408: Control the preset spot welding device to evenly spot weld the tank bottom and the tank body according to the tank bottom spot welding stroke.

[0101] When there are both a tank bottom and a tank body at the spot welding station, the tank bottom and the tank body are first pressed by a pressing device to reduce the gap between the tank bottom and the tank body, and then the tank bottom and the tank body are spot welded together by a spot welding device, thereby improving the convenience of spot welding operation.

[0102] Reference Figure 6 , the spot welding method also includes the following steps: Step 409: When there is no tank bottom on the spot welding station, it is determined whether there is a tank top on the spot welding station from a preset tank top recognition model according to the station image.

[0103] The tank top recognition model is used to determine whether there is a tank top in the workstation image, that is, whether there is a tank top on the spot welding station.

[0104] Step 410: When there is a tank top on the spot welding station, the tank top features are identified from a preset tank top feature recognition model according to the station image.

[0105] When there are tank bodies and tank tops on the spot welding station, it means that there are parts that need to be spot welded. The tank top feature recognition model refers to a neural network model obtained through sample training in advance. The tank top feature recognition model can recognize the tank top features in the station image.

[0106] Step 411: Matching the close-fitting stroke from a preset close-fitting stroke matching model based on the tank body features and the tank top features.

[0107] The close-fitting stroke matching model refers to a neural network model obtained through sample training in advance. The close-fitting stroke matching model can match the close-fitting stroke for tightly fitting the tank top and the tank body through the gripping device.

[0108] Step 412: Control the preset gripping device to press the tank top against the tank body according to the pressing stroke, and match the tank top weight from a preset tank top weight matching model based on the tank top features.

[0109] The tank top weight matching model refers to a neural network model obtained through sample training in advance. The tank top weight matching model can match the tank top weight from the volume and material of the tank top in the workpiece image.

[0110] Step 413: Match the number of tank top welds from a preset spot weld number matching model according to the tank top weight.

[0111] The minimum number of spot welds required to fix the tank top with the tank top weight to the tank body is matched through the spot weld number matching model.

[0112] Step 414: Match the tank vertex welding stroke from the preset spot welding model based on the tank body features, tank top features and the number of tank vertex welds.

[0113] The spot welding model is used to match the tank vertex welding stroke for evenly spot welding the tank body and the tank top in the circumferential direction by the spot welding device according to the number of tank vertex welds.

[0114] Step 415: Control the preset spot welding device to evenly spot weld the tank top and the tank body according to the tank top welding stroke.

[0115] When there are both a tank top and a tank body at the spot welding station, the tank top is first grabbed by a grabbing device and pressed against the tank body to reduce the gap between the tank top and the tank body, and then the tank top and the tank body are spot welded together by a spot welding device, thereby improving the convenience of the spot welding operation.

[0116] Reference Figure 7 , the tank top adjustment method includes the following steps: Step 500: When there is a tank top on the spot welding station, a grabbing feature is identified from a preset pipeline feature recognition model based on the tank top feature.

[0117] The pipeline feature recognition model is used to identify the pipeline on the tank top in the workstation image, and the captured feature is the pipeline identified by the pipeline feature recognition model.

[0118] Step 501: Match the pipeline angle from a preset pipeline orientation matching model based on the captured features.

[0119] The pipeline orientation matching model refers to a neural network model obtained through sample training in advance. The pipeline orientation matching model can match the orientation of the pipeline on the tank top in the workstation image. The pipeline angle is the angle value of the pipeline orientation matched by the pipeline orientation matching model.

[0120] Step 502: When the pipeline angle exceeds the preset placement range, an adjustment angle is matched from a preset adjustment angle matching model according to the pipeline angle.

[0121] The placement interval refers to the angle value interval of the pipe orientation that is set in advance so that the tank top can be stably placed. Stable placement means that the tank top has no tendency to roll when the tank top is pressed against the tank body by the gripping device. The placement interval is selected by the staff according to the actual situation and will not be elaborated here. The pipe angle exceeding the placement interval means that the tank body has a tendency to roll at this time. The adjustment angle matching model refers to the neural network model obtained through sample training in advance. The adjustment angle matching model can match the adjustment angle required to adjust the direction of the pipe to reduce the rolling tendency of the tank top.

[0122] Step 503: matching the adjustment stroke from a preset adjustment stroke matching model based on the grasping feature and the adjustment angle.

[0123] The adjustment stroke matching model refers to a neural network model obtained through sample training in advance. The adjustment stroke matching model can match the adjustment stroke after the grasping device grasps the grasping feature and then rotates according to the adjustment angle to ensure that the tank top is stably placed.

[0124] Step 504: Control a preset grabbing device to grab the tank top and rotate according to the adjustment stroke.

[0125] The pipe on the tank top is grasped by a grasping device and rotated to adjust the angle of the tank top, thereby reducing the rolling of the tank top when the tank top and the tank body are spot welded, thereby improving the convenience of the spot welding operation.

[0126] Reference Figure 8 The stick body splicing method comprises the following steps: Step 600: When the length of the tank body exceeds the preset transport length interval, a splicing number is matched from a preset splicing number matching model according to the length of the tank body.

[0127] The transport length interval refers to the pre-set length interval of the tank that can be transported by the pre-set stick. The transport length interval is selected by the staff according to the actual situation and will not be described here. If the tank length exceeds the transport length interval, it means that the tank cannot be transported by the existing stick at this time.

[0128] The splicing number matching model refers to a neural network model obtained in advance through sample training. The splicing number matching model can match the minimum stick length required for the tank body to be transported, and match the stick number of the stick required to achieve the stick length by connecting multiple existing sticks end to end. The splicing number is the multiple stick numbers matched by the splicing number matching model.

[0129] Step 601: Match the splicing stroke from a preset splicing stroke matching model according to the splicing number.

[0130] The splicing station refers to the position for performing the splicing operation of the stick body. The splicing station is selected by the staff according to the actual situation and will not be described in detail here. The splicing stroke matching model refers to a neural network model obtained through sample training in advance. The splicing stroke matching model can match the splicing stroke in which the stick body corresponding to the splicing number is moved to the splicing station by the gripping device and the stick bodies are arranged in an end-to-end manner.

[0131] Step 602: Control the preset grabbing device to move the stick bodies to the preset splicing stations in sequence according to the splicing stroke, and control the preset splicing device to splice the stick bodies into a splicing stick.

[0132] The splicing device refers to a device used to splice the stick bodies. Both ends of the stick body are provided with structures for splicing with other stick bodies. The stick bodies are generally spliced ​​by screwing. The splicing device is a device that controls the stick bodies to be connected through the splicing structures at the head and tail ends of the stick bodies. The splicing method and splicing device of the stick bodies are selected by the staff according to actual conditions and will not be elaborated here.

[0133] Step 603: Control the preset grabbing device to grab the splicing rod and move the tank body through the splicing rod.

[0134] When the existing stick body length is unable to carry a tank body of the same length, the existing stick bodies are spliced ​​by a splicing device to form a splicing stick that can be used to carry a tank body of the same length, thereby improving the convenience of carrying the stick body.

[0135] Based on the same inventive concept, an embodiment of the present invention provides a product spot welding fixing system, including: The acquisition module is used to acquire part images, dumping images and workstation images.

[0136] A memory is used to store a program of the above-mentioned product spot welding fixing method.

[0137] The program in the processor memory can be loaded and executed by the processor to implement the above-mentioned product spot welding fixing method.

[0138] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0139] Based on the same inventive concept, an embodiment of the present invention provides a product spot welding and fixing device, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the above-mentioned product spot welding and fixing method.

[0140] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0141] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A product spot welding fixing method, characterized in that: include: Get part images; Determine whether the part is a can body from a preset can body recognition model according to the part image; When the part is a tank body, the tank body length is matched from a preset tank body length matching model according to the part image; Matching the stick number from a preset stick number matching model according to the tank length; Controlling a preset grabbing device to grab a preset stick according to the stick number, and judging whether the can is in an upright state from a preset upright posture recognition model according to the part image; When the tank body is in an upright state, the dumping stroke is matched from a preset dumping stroke matching model according to the part image; Controlling a preset grabbing device to dump the can body through a stick body according to the dumping stroke, and obtaining a dumping image of the can body to update the part image; Based on the fact that the part is not in an upright state, the tank transport stroke is matched from a preset tank transport stroke matching model according to the part image; According to the tank body conveying stroke, a preset grabbing device is controlled to convey the tank body to a preset spot welding station through a stick body.

2. The product spot welding fixing method according to claim 1, characterized in that: Also included is a tank bottom handling method, the tank bottom handling method comprising: Determine whether the part is a tank bottom according to the part image from a preset tank bottom recognition model; When the part is a can bottom, a placement posture is matched from a preset placement posture matching model according to the part image, and the placement posture includes a normal placement state; When the placement posture is in the upright state, the pressing position is matched from the preset pressing position matching model according to the part image; Matching the pressing stroke from a preset pressing stroke matching model according to the pressing position and the part image; Controlling a preset pressing device to press one end of the part to tilt the other end of the part according to the pressing stroke, and matching the loading stroke from a preset loading stroke matching model according to the pressing position and the part image; Control a preset handling device to enter the tilted end of the part according to the loading stroke, control a preset pressing device to detach from the part according to the pressing stroke, and match the tank bottom handling stroke from a preset tank bottom handling stroke matching model according to the part image; According to the tank bottom conveying stroke, the preset conveying device is controlled to convey the tank bottom to the preset spot welding station.

3. The product spot welding fixing method according to claim 1, characterized in that: The placement posture also includes an inverted state, and the tank bottom transportation method also includes: When the placement posture is in the reversed state, the gap position is identified from a preset gap position identification model according to the part image; Matching the blocking stroke from a preset blocking stroke matching model according to the gap position and the part image; Controlling a preset blocking device to block one end of the part according to the blocking stroke, and matching the insertion stroke from a preset insertion stroke matching model according to the gap position; Control the preset lifting device to insert into the gap position according to the insertion stroke, and match the lifting height from the preset lifting height matching model according to the part image; Control the preset lifting device to lift the parts according to the lifting height, and match the moving stroke from the preset loading stroke matching model according to the gap position and the part image; According to the moving stroke, the preset transport device is controlled to enter one end of the lifted part, and according to the lifting height and the interlacing stroke, the preset lifting device is controlled to detach from the part, and according to the blocking stroke, the preset blocking device is controlled to detach from the part.

4. The product spot welding fixing method according to claim 1, characterized in that: Also included is a tank top handling method, the tank top handling method comprising: Determine whether the part is a tank top from a preset tank top recognition model according to the part image; When the part is a tank top, the pipeline feature is identified from a preset pipeline feature recognition model according to the part image; Matching the grabbing stroke from a preset grabbing stroke matching model based on pipeline characteristics; Controlling a preset grabbing device to grab pipeline features according to the grabbing stroke, and matching the tank top handling stroke from a preset tank top handling stroke matching model according to the pipeline features and the part image; According to the tank top transport stroke, the preset grabbing device is controlled to transport the tank top to the preset spot welding station.

5. The product spot welding fixing method according to claim 1, characterized in that: Also included is a spot welding method, the spot welding method comprising: Acquire the workstation image of the spot welding station; Judging whether there is a tank body at the spot welding station from a preset tank body recognition model according to the station image; When there is a tank body on the spot welding station, the tank body features are identified from a preset tank body feature recognition model according to the station image, and whether there is a tank bottom on the spot welding station is determined from a preset tank bottom recognition model according to the station image; When there is a tank bottom on the spot welding station, the tank bottom features are identified from a preset tank bottom feature recognition model according to the station image; Matching the compaction stroke from a preset compaction stroke matching model based on the tank body characteristics and tank bottom characteristics; Controlling a preset pressing device according to the pressing stroke to press the tank bottom against the tank body, and matching the tank bottom weight from a preset tank bottom weight matching model based on the tank bottom characteristics; According to the tank bottom weight, the number of spot welds of the tank bottom is matched from a preset spot weld number matching model; Matching the tank bottom spot welding stroke from the preset spot welding model based on the tank body features, tank bottom features and the number of tank bottom spot weldings; According to the tank bottom spot welding stroke, the preset spot welding device is controlled to evenly spot weld and connect the tank bottom and the tank body.

6. The product spot welding fixing method according to claim 5, characterized in that: The spot welding method also includes: When there is no tank bottom on the spot welding station, it is determined whether there is a tank top on the spot welding station from a preset tank top recognition model according to the station image; When there is a tank top on the spot welding station, the tank top features are identified from a preset tank top feature recognition model according to the station image; Matching the close-fitting stroke from a preset close-fitting stroke matching model based on the tank body characteristics and the tank top characteristics; Controlling a preset gripping device to closely fit the tank top and the tank body according to the close fitting stroke, and matching the tank top weight from a preset tank top weight matching model based on the tank top features; According to the tank top weight, the number of tank top welds is matched from a preset spot weld number matching model; Matching the tank vertex welding stroke from the preset spot welding model based on the tank body features, tank top features and the number of tank vertex welds; According to the tank top welding stroke, the preset spot welding device is controlled to evenly spot weld and connect the tank top and the tank body.

7. The product spot welding fixing method according to claim 6, characterized in that: Also included is a tank top adjustment method, the tank top adjustment method comprising: When there is a tank top on the spot welding station, the grabbing features are identified from the preset pipeline feature recognition model based on the tank top features; Match the pipeline angle from the preset pipeline orientation matching model based on the captured features; When the pipe angle exceeds the preset placement range, an adjustment angle is matched from a preset adjustment angle matching model according to the pipe angle; Matching the adjustment stroke from a preset adjustment stroke matching model based on the grasping feature and the adjustment angle; The preset grabbing device is controlled according to the adjustment stroke to grab the tank top and rotate it.

8. The product spot welding fixing method according to claim 1, characterized in that: It also includes a stick body splicing method, the stick body splicing method comprising: When the length of the tank exceeds the preset transport length range, the splicing number is matched from the preset splicing number matching model according to the length of the tank; Matching the splicing itinerary from a preset splicing itinerary matching model according to the splicing number; According to the splicing stroke, the preset grabbing device is controlled to move the stick bodies to the preset splicing stations in sequence, and the preset splicing device is controlled to splice the stick bodies into a splicing stick; The preset grabbing device is controlled to grab the splicing rod and carry the tank body through the splicing rod.

9. A product spot welding fixing system, characterized in that: include: An acquisition module, used to acquire part images, dumping images and workstation images; A memory for storing a program of the product spot welding fixing method as claimed in any one of claims 1 to 8; The program in the memory can be loaded and executed by the processor to implement the product spot welding fixing method as described in any one of claims 1 to 8.

10. A product spot welding device, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes any one of the product spot welding fixing methods as claimed in claims 1 to 8.

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