A method, system and intelligent terminal for automatic spot welding of electric tool motor rotor

Abstract

The present invention relates to an automatic spot welding method, system and intelligent terminal for an electric tool motor rotor, and relates to the field of welding technology, which includes: obtaining a weight detection value and image detection information detected by an operating table of a spot welding machine; determining weight specification information according to the weight detection value analysis; retrieving a specification gap reference position point based on the weight specification information; determining a gap detection position point according to the image detection information and the weight specification information analysis; analyzing the deviation distance between the specification gap reference position point and the gap detection position point and using it as a gap position deviation distance value; determining the rotation angle adjustment information corresponding to the gap position deviation distance value according to the corresponding relationship between the gap position deviation distance value and the preset rotation angle adjustment information, and outputting the rotation angle adjustment information to the operating table of the spot welding machine to adjust the angle of the motor rotor. The present invention has the effect of improving the overall performance quality of the motor rotor.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and in particular to an automatic spot welding method, system and intelligent terminal for an electric tool motor rotor. Background Art

[0002] Welding is a manufacturing process for connecting metals or other thermoplastic materials. It uses heating, high temperature or high pressure to partially melt the material or make it plastic, and forms a permanent connection after cooling and solidification. It is widely used in building structures, transportation vehicles, aerospace, petrochemicals, electronics and electrical appliances and other fields.

[0003] Power tools are important tools for modern manual work. The motor rotor in the power tool is one of the core components of the motor. It is closely related to the performance of the power tool and is responsible for carrying and transmitting the mechanical energy generated by the motor. The electric hammer drill uses a brushed motor and the motor rotor is equipped with a commutator composed of multiple insulated conductive segments. The conductive segments in the commutator are usually made of copper and arranged at specific angles. In order to ensure a stable electrical connection between the conductive segments of the commutator and the supporting structure of the commutator, it is generally necessary to spot weld the motor rotor with the commutator installed. In the process of manufacturing the motor rotor, the operator places the motor rotor with the commutator installed on the operating table of the spot welding machine, and connects one shaft end of the motor rotor with the commutator installed to the rotating part of the spot welding machine, so that the motor rotor and the commutator are periodically rotated at a small angle, and after the motor rotor rotates a small angle, the welding head of the spot welding machine approaches the commutator and welds, thereby performing the spot welding operation.

[0004] When spot welding a motor rotor, the operator is required to first place the motor rotor on the operating table of the spot welding machine and connect the shaft end of the motor rotor to the rotating part of the spot welding machine before performing the spot welding operation. When the operator places the motor rotor, a placement deviation is likely to occur between the shaft end of the motor rotor and the rotating part of the spot welding machine, resulting in a deviation in the position of subsequent spot welding, thereby reducing the overall performance quality of the motor rotor. Summary of the invention

[0005] In order to improve the overall performance quality of a motor rotor, the present invention provides a method, system and intelligent terminal for automatic spot welding of a motor rotor of an electric tool.

[0006] In a first aspect, the present invention provides a method for automatic spot welding of a motor rotor of an electric tool, which adopts the following technical solution:

[0007] An automatic spot welding method for a motor rotor of an electric tool, comprising:

[0008] Obtain the weight detection value and image detection information detected by the operating table of the spot welding machine;

[0009] Determine weight specification information based on weight test value analysis;

[0010] Retrieve the specification gap reference position point based on the weight specification information;

[0011] Determine the gap detection location point based on the image detection information and weight specification information analysis;

[0012] Analyze the deviation distance between the specification gap reference position point and the gap detection position point and use it as the gap position deviation distance value;

[0013] According to the correspondence between the gap position deviation distance value and the preset rotation angle adjustment information, the rotation angle adjustment information corresponding to the gap position deviation distance value is determined, and the rotation angle adjustment information is output to the operating table of the spot welding machine to adjust the angle of the motor rotor.

[0014] Optionally, the method for determining the weight specification information includes:

[0015] Query and retrieve the initial specification information of the rotor based on the weight detection value;

[0016] Retrieve the initial weight value of the rotor based on the initial specification information of the rotor;

[0017] Calculate the difference between the weight detection value and the initial weight value of the rotor and use it as the estimated weight of the commutator;

[0018] According to the correspondence between the rotor initial specification information and the preset commutator initial specification information, the commutator initial specification information corresponding to the rotor initial specification information is determined;

[0019] Retrieving the commutator reference weight range based on the commutator initial specification information;

[0020] The commutator adjustment specification information is determined based on whether the commutator weight estimate falls within the commutator reference weight range, and the commutator adjustment specification information is used as the weight specification information.

[0021] Optionally, the method for determining the commutator adjustment specification information includes:

[0022] Determine whether the estimated value of the commutator weight falls within the commutator reference weight range;

[0023] If yes, the initial specification information of the commutator is used as the adjustment specification information of the commutator;

[0024] If not, the difference between the estimated commutator weight and the commutator reference weight interval is calculated and used as the commutator weight deviation value;

[0025] Calculate the sum of the commutator weight deviation value and the rotor initial weight value and use it as the rotor adjustment weight value;

[0026] Calculate the difference between the weight detection value and the rotor adjustment weight value and use it as the commutator weight adjustment value;

[0027] According to the correspondence between the commutator weight adjustment value and the preset weight adjustment specification information, the weight adjustment specification information corresponding to the commutator weight adjustment value is determined, and the weight adjustment specification information is used as the commutator adjustment specification information.

[0028] Optionally, a method for determining a gap detection position point includes:

[0029] Performing image preprocessing based on the image detection information to form image preprocessing information;

[0030] Performing brightness conversion based on the image preprocessing information to form image brightness information;

[0031] Retrieve the image brightness value and the image brightness position point based on the image brightness information;

[0032] Calculate the difference between the image brightness values ​​of adjacent image brightness position points and use it as the brightness deviation value;

[0033] Retrieve the specification gap interval value based on the weight specification information;

[0034] According to the corresponding relationship between the specification gap interval value and the preset brightness deviation reference value, the brightness deviation reference value corresponding to the specification gap interval value is determined;

[0035] The gap selection position point is determined according to the judgment result of whether the brightness deviation value is greater than the brightness deviation reference value, and the gap selection position point is used as the gap detection position point.

[0036] Optionally, a method for determining the gap selection position point includes:

[0037] Determine whether the brightness deviation value is greater than the brightness deviation reference value;

[0038] If yes, then based on the brightness deviation value, the image brightness position point corresponding to the smaller image brightness value is retrieved and used as the dark portion position point;

[0039] Calculate the distance between the dark part position point and the preset image middle position point and use it as the dark part position deviation distance value;

[0040] Sort the dark part position points from small to large based on the dark part position deviation distance values, and use the dark part position point corresponding to the dark part position deviation distance value with the first ranking as the gap selection position point;

[0041] If not, the difference between the brightness deviation value and the brightness deviation reference value is calculated and used as the brightness deviation abnormal value;

[0042] The gap estimation position point is determined based on the brightness deviation outlier analysis, and the gap estimation position point is used as the gap selection position point.

[0043] Optionally, a method for determining the gap estimation position point includes:

[0044] Sort the brightness deviation outliers from small to large, and use the image brightness position point corresponding to the brightness deviation outlier value ranked first as the outlier selection position point;

[0045] Calculate the position deviation between the abnormal selected position point and the preset illumination output position point and use it as the abnormal minimum illumination vector value;

[0046] Determine the illumination impact value based on the abnormal minimum illumination vector value analysis;

[0047] Calculate the sum of the illumination impact value and the brightness deviation abnormal value and use it as the abnormal deviation adjustment value;

[0048] Determine whether the abnormal deviation adjustment value is less than the preset abnormal deviation reference value;

[0049] If yes, the abnormal selected position point is used as the gap estimation position point;

[0050] If not, the abnormal selected position points are removed, and the abnormal selected position points are reselected according to the sorting result of the brightness deviation abnormal values.

[0051] Optionally, the method for determining the illumination impact value includes:

[0052] Based on the abnormal minimum illumination vector value, the abnormal minimum illumination distance value and the abnormal minimum illumination direction information are retrieved;

[0053] Analyze the deviation angle between the abnormal minimum illumination direction information and the preset illumination reference direction information and use it as the minimum illumination angle deviation value;

[0054] Obtain external environment lighting information;

[0055] Based on the external environment lighting information, the ambient lighting intensity value and the ambient lighting direction information are retrieved;

[0056] Calculate the deviation angle between the ambient lighting direction information and the abnormal minimum lighting direction information and use it as the ambient lighting angle deviation value;

[0057] The comprehensive lighting impact value is determined based on the analysis of the abnormal minimum lighting distance value, the minimum lighting angle deviation value, the ambient lighting intensity value and the ambient lighting angle deviation value, and the comprehensive lighting impact value is used as the lighting impact value.

[0058] Optionally, the method for determining the comprehensive lighting impact value includes:

[0059] According to the preset comprehensive illumination impact value calculation formula, the abnormal minimum illumination distance value, the minimum illumination angle deviation value, the ambient illumination intensity value and the ambient illumination angle deviation value are calculated to obtain the comprehensive illumination impact value;

[0060] The calculation formula for the comprehensive impact value of illumination is: ;

[0061] A is the comprehensive impact value of light;

[0062] S is the abnormal minimum illumination distance value;

[0063] k is the preset distance unit influence value;

[0064] θ1 is the minimum illumination angle deviation value;

[0065] θ2 is the ambient light angle deviation value;

[0066] α is the unit impact value of the angle deviation;

[0067] E is the ambient light intensity value;

[0068] β is the preset light intensity benchmark impact value.

[0069] In a second aspect, the present invention provides an automatic spot welding system for a motor rotor of an electric tool, which adopts the following technical solution:

[0070] An automatic spot welding system for a motor rotor of an electric tool, comprising:

[0071] An acquisition module is used to obtain weight detection values, image detection information and external environment lighting information;

[0072] A memory for storing a program of the method for automatic spot welding of a motor rotor of an electric tool as described in the first aspect;

[0073] The processor loads and executes the program in the memory and implements the automatic spot welding method for the electric tool motor rotor as described in the first aspect.

[0074] In a third aspect, the present invention provides an intelligent terminal, which adopts the following technical solution:

[0075] An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes the method for automatic spot welding of a motor rotor of an electric tool as described in the first aspect.

[0076] In summary, the present invention includes at least one of the following beneficial technical effects:

[0077] 1. By acquiring the weight detection value and image detection information, and determining the weight specification information through weight detection value analysis to retrieve the specification gap reference position point, determining the gap detection position point through image detection information and weight specification information analysis, and then calculating the gap position deviation distance value, determining the rotation angle adjustment information through gap position deviation distance value query and outputting it to the operating table of the spot welding machine to adjust the angle of the motor rotor, so that when the motor rotor is placed on the operating table of the spot welding machine, the placement angle of the motor rotor is automatically adjusted to facilitate subsequent accurate welding, thereby improving the overall performance quality of the motor rotor, and finally making the produced electric hammer drill have high operation stability;

[0078] 2. The initial specification information of the rotor is retrieved through the weight detection value query and the initial weight value of the rotor is retrieved, and then the estimated weight value of the commutator is calculated. The initial specification information of the commutator is determined through the initial specification information query of the rotor and the reference weight range of the commutator is retrieved. By analyzing the falling situation of the estimated weight value of the commutator and the reference weight range of the commutator, the commutator adjustment specification information is determined and used as the weight specification information, thereby improving the accuracy of the obtained weight specification information;

[0079] 3. Perform image preprocessing and brightness conversion on the image detection information to form image brightness information and retrieve the image brightness value and image brightness position point, then calculate the brightness deviation value, retrieve the specification gap interval value through the weight specification information and query to determine the brightness deviation reference value, and analyze the judgment result of whether the brightness deviation value is greater than the brightness deviation reference value to determine the gap selection position point and use it as the gap detection position point, thereby improving the accuracy of the acquired gap detection position point. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1 is a flow chart of a method for automatic spot welding of a motor rotor of an electric tool according to an embodiment of the present application;

[0081] Figure 2 is a flow chart of a method for determining weight specification information in an embodiment of the present application;

[0082] Figure 3 is a flow chart of a method for determining commutator adjustment specification information according to an embodiment of the present application;

[0083] Figure 4 is a flow chart of a method for determining a gap detection position point in an embodiment of the present application;

[0084] Figure 5 is a flow chart of a method for determining a gap selection position point according to an embodiment of the present application;

[0085] Figure 6 is a flow chart of a method for determining a gap estimation position point in an embodiment of the present application;

[0086] Figure 7 It is a flow chart of the method for determining the illumination impact value of an embodiment of the present application. DETAILED DESCRIPTION

[0087] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0088] An automatic spot welding method for an electric tool motor rotor acquires weight detection values, image detection information and external environment lighting information, thereby analyzing the weight specifications to determine the gap position, and then adjusting the rotation angle according to the gap position deviation. When the motor rotor is placed on an operating table of a spot welding machine, the placement angle of the motor rotor is automatically adjusted to facilitate subsequent accurate welding, thereby improving the overall performance quality of the motor rotor, and ultimately making the produced electric hammer drill have high operating stability.

[0089] The embodiment of the present invention discloses an automatic spot welding method for a motor rotor of an electric tool. Figure 1 , a method for automatic spot welding of a motor rotor of an electric tool comprises:

[0090] Step S100: Acquire the weight detection value and image detection information detected by the operating console of the spot welding machine.

[0091] The weight detection value refers to the comprehensive weight value of the motor rotor and the commutator preset on the motor rotor detected by the operating table of the electric welding machine, and the weight detection value is detected and obtained by the weight sensor preset on the operating table of the electric welding machine. The image detection information refers to the image information of the motor rotor on the operating table of the electric welding machine and the commutator preset on the motor rotor, and the image detection information is obtained by the image detection preset on the electric welding machine. In this embodiment, the electric welding machine is preset with a light emitting device that emits red light to illuminate the motor rotor and the commutator on the operating table.

[0092] Step S200: Analyze and determine weight specification information based on the weight detection value.

[0093] Among them, the weight specification information refers to the specification information of the commutator on the motor rotor based on the detected weight. The weight specification information is determined by analyzing the weight detection value to facilitate subsequent use.

[0094] Step S300: Retrieve the specification gap reference position point based on the weight specification information.

[0095] Among them, the specification gap reference position point refers to the reference position point of the gap in the specification of the commutator when it is placed normally. The relative position point of the query gap in the commutator is retrieved through the weight specification information, and then the specification gap reference position point is queried from the preset relative position reference query database through the relative position point of the gap, which is convenient for subsequent use. The relative position reference query database stores the corresponding relationship between the relative position point of the gap and the reference position point that needs to be placed when placed, and the relative position reference query database is pre-tested and stored by the operator.

[0096] Step S400: Analyze and determine the gap detection position point based on the image detection information and weight specification information.

[0097] The gap detection position point refers to the position point where the gap is detected from the image. The gap detection position point is determined by analyzing the image detection information and weight specification information, which is convenient for subsequent use.

[0098] Step S500: Analyze the deviation distance between the standard gap reference position point and the gap detection position point and use it as the gap position deviation distance value.

[0099] Among them, the gap position deviation distance value refers to the deviation distance value corresponding to when there is a deviation in the gap. The deviation distance between the specification gap reference position point and the gap detection position point is analyzed and calculated and used as the gap position deviation distance value for subsequent use.

[0100] Step S600: Determine the rotation angle adjustment information corresponding to the gap position deviation distance value according to the correspondence between the gap position deviation distance value and the preset rotation angle adjustment information, and output the rotation angle adjustment information to the operating table of the spot welding machine to adjust the angle of the motor rotor.

[0101] The rotation angle adjustment information refers to the adjustment information for adjusting the placement angle of the motor rotor according to the deviation distance of the gap, and the rotation angle adjustment information is obtained by querying from a database storing the corresponding relationship between the gap position deviation distance value and the rotation angle adjustment information, and the database is pre-tested and stored by the operator. The rotation angle adjustment information is determined by querying the gap position deviation distance value and output to the operating table of the spot welding machine to adjust the angle of the motor rotor, so that when the motor rotor is placed in the operating table of the spot welding machine, the placement angle of the motor rotor is automatically adjusted to facilitate subsequent accurate welding, thereby improving the overall performance quality of the motor rotor, and finally making the produced electric hammer drill have high operating stability.

[0102] exist Figure 1In step S200, in order to further ensure the rationality of the weight specification information, it is necessary to further analyze and calculate the weight specification information. Figure 2 The steps shown are explained in detail.

[0103] Reference Figure 2 , the method for determining the weight specification information includes the following steps:

[0104] Step S210: Query and retrieve the initial specification information of the rotor based on the weight detection value.

[0105] Among them, the rotor initial specification information refers to the initial specification information of the motor rotor. The weight detection value is queried and the motor rotor specifications corresponding to the weight value near the weight detection value are retrieved and used as the rotor initial specification information to facilitate subsequent use.

[0106] Step S220: Retrieve the initial weight value of the rotor based on the initial specification information of the rotor.

[0107] The rotor initial weight value refers to the weight value corresponding to the initial specification of the motor rotor. The rotor initial weight value is retrieved through the rotor initial specification information to facilitate subsequent use.

[0108] Step S230: Calculate the difference between the weight detection value and the initial weight value of the rotor and use it as the estimated weight value of the commutator.

[0109] Among them, the commutator weight estimate refers to the estimated weight of the commutator based on the weight of the motor rotor with initial specifications. The difference between the weight detection value and the initial weight value of the rotor is calculated and used as the commutator weight estimate for subsequent use.

[0110] Step S240: determining the commutator initial specification information corresponding to the rotor initial specification information according to the correspondence between the rotor initial specification information and the preset commutator initial specification information.

[0111] The commutator initial specification information refers to the initial specification information of the commutator when it is used in conjunction with the initial specification of the motor rotor. The commutator initial specification information is obtained by querying a database storing the correspondence between the rotor initial specification information and the commutator initial specification information. The database is obtained and stored by querying relevant websites of the motor rotor and the commutator. The commutator initial specification information is determined by querying the rotor initial specification information to facilitate subsequent use.

[0112] Step S250: Retrieve the commutator reference weight range based on the commutator initial specification information.

[0113] The commutator reference weight range refers to the reference range in which the normal weight of the commutator of the initial specification is located. The commutator reference weight range is retrieved through the commutator initial specification information to facilitate subsequent use.

[0114] Step S260: Determine the commutator adjustment specification information according to whether the commutator weight estimate falls within the commutator reference weight interval, and use the commutator adjustment specification information as the weight specification information.

[0115] Among them, the commutator adjustment specification information refers to the specification information after the specifications of the commutator are adjusted. By analyzing the fall of the commutator weight estimate and the commutator reference weight range, the commutator adjustment specification information is determined and used as the weight specification information, thereby improving the accuracy of the obtained weight specification information.

[0116] exist Figure 2 In step S260, in order to further ensure the rationality of the commutator adjustment specification information, it is necessary to further analyze and calculate the commutator adjustment specification information. Figure 3 The steps shown are explained in detail.

[0117] Reference Figure 3 , the method for determining the commutator adjustment specification information includes the following steps:

[0118] Step S261: Determine whether the estimated commutator weight falls within the commutator reference weight range. If yes, execute step S262; if no, execute step S263.

[0119] Here, it is determined whether the estimated value of the commutator weight falls within the reference weight range of the commutator, thereby determining whether the specification of the commutator needs to be adjusted.

[0120] Step S262: Using the commutator initial specification information as the commutator adjustment specification information.

[0121] Among them, when the estimated value of the commutator weight falls within the commutator reference weight range, it means that the specifications of the commutator do not need to be adjusted at this time, so the initial specification information of the commutator is used as the commutator adjustment specification information, so as to facilitate subsequent use.

[0122] Step S263: Calculate the difference between the estimated commutator weight and the reference commutator weight interval and use it as the commutator weight deviation value.

[0123] Among them, the commutator weight deviation value refers to the deviation value when there is a deviation in the initial specification of the commutator weight. When the commutator weight estimated value does not fall within the commutator reference weight range, it means that the specifications of the commutator need to be adjusted at this time. Therefore, the difference between the commutator weight estimated value and the commutator reference weight range is calculated and used as the commutator weight deviation value for subsequent use.

[0124] Step S264: Calculate the sum of the commutator weight deviation value and the rotor initial weight value and use it as the rotor adjustment weight value.

[0125] Among them, the rotor adjustment weight value refers to the adjustment value after adjusting the weight of the motor rotor. The sum of the commutator weight deviation value and the rotor initial weight value is calculated and used as the rotor adjustment weight value for subsequent use.

[0126] Step S265: Calculate the difference between the weight detection value and the rotor adjustment weight value and use it as the commutator weight adjustment value.

[0127] Among them, the commutator weight adjustment value refers to the adjustment value after adjusting the weight of the commutator. The difference between the weight detection value and the rotor adjustment weight value is calculated and used as the commutator weight adjustment value for subsequent use.

[0128] Step S266: Determine the weight adjustment specification information corresponding to the commutator weight adjustment value according to the correspondence between the commutator weight adjustment value and the preset weight adjustment specification information, and use the weight adjustment specification information as the commutator adjustment specification information.

[0129] The weight adjustment specification information refers to the specification information after the specifications of the commutator are adjusted according to the weight adjustment value of the commutator. The weight adjustment specification information is obtained by querying from a database storing the corresponding relationship between the weight adjustment value of the commutator and the weight adjustment specification information. The database is obtained after being pre-input by an operator. The weight adjustment specification information is determined by querying the weight adjustment value of the commutator and used as the commutator adjustment specification information, thereby improving the accuracy of the obtained commutator adjustment specification information.

[0130] exist Figure 1 In step S400, in order to further ensure the rationality of the gap detection position point, it is necessary to further analyze and calculate the gap detection position point separately, specifically by Figure 4 The steps shown are explained in detail.

[0131] Reference Figure 4 , the method for determining the gap detection position point includes the following steps:

[0132] Step S410: performing image preprocessing based on the image detection information to form image preprocessing information.

[0133] The image preprocessing information refers to image information formed after performing denoising and other processing on the image. The image preprocessing information is formed by performing image preprocessing on the image detection information, which is convenient for subsequent use.

[0134] Step S420: performing brightness conversion based on the image preprocessing information to form image brightness information.

[0135] Among them, image brightness information refers to information used to indicate the brightness situation in the image. The image preprocessing information is converted from the RGB color space to the HSV color space, and the Value channel of the HSV image is extracted and normalized to obtain the corresponding image information as the image brightness information, which is convenient for subsequent use.

[0136] Step S430: Retrieve the image brightness value and the image brightness position point based on the image brightness information.

[0137] Among them, the image brightness value refers to the parameter value used to indicate the brightness condition in the image, and the image brightness position point refers to the position point where the image brightness value is located. The image brightness value and the image brightness position point are retrieved through the image brightness information to facilitate subsequent use.

[0138] Step S440: Calculate the difference between the image brightness values ​​of adjacent image brightness position points and use it as the brightness deviation value.

[0139] The brightness deviation value refers to the deviation value when there is a deviation in the brightness of adjacent positions of the image. The difference between the image brightness values ​​of adjacent image brightness position points is calculated and used as the brightness deviation value for convenience in subsequent use.

[0140] Step S450: Retrieve the specification gap interval value based on the weight specification information.

[0141] Among them, the specification gap interval value refers to the interval distance value between different gaps in the commutator specifications. The specification gap interval value is retrieved through the weight specification information to facilitate subsequent use.

[0142] Step S460: Determine the brightness deviation reference value corresponding to the specification gap interval value according to the correspondence between the specification gap interval value and the preset brightness deviation reference value.

[0143] The brightness deviation reference value refers to the reference deviation value of the brightness of adjacent positions of the image that is allowed in the commutator specifications. The brightness deviation reference value is obtained by querying from a database storing the corresponding relationship between the specification gap interval value and the brightness deviation reference value. The database is obtained after the operator pre-enters. The brightness deviation reference value is determined by querying the specification gap interval value to facilitate subsequent use.

[0144] Step S470: Determine the gap selection position point based on the judgment result of whether the brightness deviation value is greater than the brightness deviation reference value, and use the gap selection position point as the gap detection position point.

[0145] Among them, the gap selection position point refers to the position point where the gap is selected. By analyzing the judgment result of whether the brightness deviation value is greater than the brightness deviation reference value, the gap selection position point is determined and used as the gap detection position point, thereby improving the accuracy of the obtained gap detection position point.

[0146] exist Figure 4 In step S470, in order to further ensure the rationality of the gap selection position point, it is necessary to further analyze and calculate the gap selection position point separately, specifically by Figure 5 The steps shown are explained in detail.

[0147] Reference Figure 5 , the method for determining the gap selection position point includes the following steps:

[0148] Step S471: Determine whether the brightness deviation value is greater than the brightness deviation reference value. If yes, execute step S472; if no, execute step S475.

[0149] Among them, by judging whether the brightness deviation value is greater than the brightness deviation reference value, it is judged whether the brightness deviation caused by the existence of the gap is directly detected.

[0150] Step S472: based on the brightness deviation value, retrieve the image brightness position point corresponding to the smaller image brightness value and use it as the dark portion position point.

[0151] Among them, the dark position point refers to the position point in the image corresponding to the darker brightness relative to the adjacent position. When the brightness deviation value is greater than the brightness deviation reference value, it means that the brightness deviation caused by the gap is directly detected at this time. Therefore, the image brightness position point corresponding to the smaller image brightness value is retrieved through the brightness deviation value and used as the dark position point for subsequent use.

[0152] Step S473: Calculate the distance between the dark portion position point and the preset image middle position point and use it as the dark portion position deviation distance value.

[0153] Among them, the middle position point of the image refers to the position point corresponding to the middle position of the collected image. The middle position point of the image is obtained after pre-input by the operator. The distance between the dark position point and the preset middle position point of the image is calculated and used as the dark position deviation distance value for convenience in subsequent use.

[0154] Step S474: sorting from small to large based on the dark portion position deviation distance values, and taking the dark portion position point corresponding to the dark portion position deviation distance value that ranks first in the sort as the gap selection position point.

[0155] Among them, by sorting the dark part position deviation distance values ​​from small to large, and taking the dark part position point corresponding to the dark part position deviation distance value with the first sorting as the gap selection position point, the accuracy of the obtained gap selection position point is improved.

[0156] Step S475: Calculate the difference between the brightness deviation value and the brightness deviation reference value and use it as the brightness deviation abnormal value.

[0157] Among them, the brightness deviation abnormal value refers to the deviation value when there is an abnormal deviation in brightness. When the brightness deviation value is not greater than the brightness deviation reference value, it means that the brightness deviation caused by the gap cannot be directly detected at this time. Therefore, the difference between the brightness deviation value and the brightness deviation reference value is calculated and used as the brightness deviation abnormal value for subsequent use.

[0158] Step S476: Determine the gap estimation position point based on the brightness deviation abnormal value analysis, and use the gap estimation position point as the gap selection position point.

[0159] Among them, the gap estimated position point refers to the estimated position point obtained after estimating the gap. By analyzing the brightness deviation abnormal value, the gap estimated position point is determined and used as the gap selection position point, thereby improving the accuracy of the obtained gap selection position point.

[0160] exist Figure 5 In step S476, in order to further ensure the rationality of the gap estimation position point, it is necessary to further analyze and calculate the gap estimation position point separately, specifically by Figure 6 The steps shown are explained in detail.

[0161] Reference Figure 6 , the method for determining the gap estimation position point includes the following steps:

[0162] Step S4761: Sort the brightness deviation abnormal values ​​from small to large, and use the image brightness position point corresponding to the brightness deviation abnormal value that ranks first as the abnormal selection position point.

[0163] Among them, the abnormal selection position point refers to the position point after the position with abnormal brightness deviation is selected. The brightness deviation abnormal values ​​are sorted from small to large, and the image brightness position point corresponding to the first-ranked brightness deviation abnormal value is used as the abnormal selection position point, so as to facilitate subsequent use.

[0164] Step S4762: Calculate the position deviation between the abnormal selected position point and the preset illumination output position point and use it as the abnormal minimum illumination vector value.

[0165] The light output position point refers to the position point of the device used to output light to the operating table, and the light output position point is obtained after being pre-input by the operator. The abnormal minimum light vector value refers to the vector value between the light output position and the position where the minimum abnormal deviation of brightness exists. The position deviation between the abnormal selected position point and the preset light output position point is analyzed and calculated and used as the abnormal minimum light vector value for subsequent use.

[0166] Step S4763: Determine the illumination impact value based on the abnormal minimum illumination vector value analysis.

[0167] The illumination impact value refers to the degree of influence of illumination on brightness anomaly. The illumination impact value is determined by analyzing the abnormal minimum illumination vector value, which is convenient for subsequent use.

[0168] Step S4764: Calculate the sum of the illumination impact value and the brightness deviation abnormal value and use it as the abnormal deviation adjustment value.

[0169] The abnormal deviation adjustment value refers to the deviation value after adjusting the abnormal deviation. The sum of the illumination impact value and the brightness deviation abnormal value is calculated and used as the abnormal deviation adjustment value for subsequent use.

[0170] Step S4765: Determine whether the abnormal deviation adjustment value is less than the preset abnormal deviation reference value. If yes, execute step S4766; if no, execute step S4767.

[0171] The abnormal deviation reference value refers to the maximum reference value allowed for the abnormal deviation, and the abnormal deviation reference value is obtained after being pre-input by the operator. By judging whether the abnormal deviation adjustment value is less than the preset abnormal deviation reference value, it is judged whether the abnormal selection position point is selected accurately.

[0172] Step S4766: select the abnormal position point as the gap estimation position point.

[0173] Among them, when the abnormal deviation adjustment value is less than the preset abnormal deviation reference value, it means that the abnormal selected position point is selected accurately at this time, so the abnormal selected position point is used as the gap estimation position point, thereby improving the accuracy of the obtained gap estimation position point.

[0174] Step S4767: remove abnormal selected position points, and reselect abnormal selected position points based on the sorting results of the brightness deviation abnormal values.

[0175] Among them, when the abnormal deviation adjustment value is not less than the preset abnormal deviation baseline value, it means that the abnormal selection position point is not accurately selected at this time, so the abnormal selection position point is removed, and the abnormal selection position point is re-selected according to the sorting result of the brightness deviation abnormal value, and the step S4762 is jumped again to execute until the accurate abnormal selection position point is selected, thereby improving the accuracy of the obtained gap estimation position point.

[0176] exist Figure 6 In step S4763 shown in the figure, in order to further ensure the rationality of the illumination impact value, it is necessary to further analyze and calculate the illumination impact value separately, specifically by Figure 7 The steps shown are explained in detail.

[0177] Reference Figure 7 , the method for determining the illumination impact value includes the following steps:

[0178] Step S47631: Retrieve the abnormal minimum illumination distance value and the abnormal minimum illumination direction information based on the abnormal minimum illumination vector value.

[0179] Among them, the abnormal minimum lighting distance value refers to the distance value between the lighting output position and the position where the minimum abnormal deviation in brightness exists, and the abnormal minimum lighting direction information refers to the direction information between the lighting output position and the position where the minimum abnormal deviation in brightness exists. The abnormal minimum lighting distance value and the abnormal minimum lighting direction information are retrieved through the abnormal minimum lighting vector value to facilitate subsequent use.

[0180] Step S47632: Analyze the deviation angle between the abnormal minimum illumination direction information and the preset illumination reference direction information and use it as the minimum illumination angle deviation value.

[0181] The illumination reference direction information refers to the reference direction information corresponding to normal illumination, and the illumination reference direction information is obtained after being pre-input by the operator. The minimum illumination angle deviation value refers to the deviation angle value when there is a deviation between the illumination output position and the position where the brightness has the minimum abnormal deviation. The deviation angle between the abnormal minimum illumination direction information and the preset illumination reference direction information is analyzed and used as the minimum illumination angle deviation value, which is convenient for subsequent use.

[0182] Step S47633: Obtain external environment lighting information.

[0183] The external environment lighting information refers to the lighting information generated by the external environment where the spot welding machine is located. The external environment lighting information is detected and acquired by a lighting sensor preset on the spot welding machine and used to detect the lighting of the external environment.

[0184] Step S47634: Retrieve the ambient light intensity value and ambient light direction information based on the external ambient light information.

[0185] Among them, the ambient light intensity value refers to the intensity value corresponding to the light in the environment where the spot welder is located, and the ambient light direction information refers to the direction information corresponding to the light in the environment where the spot welder is located. The ambient light intensity value and the ambient light direction information are retrieved through the external ambient light information to facilitate subsequent use.

[0186] Step S47635: Calculate the deviation angle between the ambient lighting direction information and the abnormal minimum lighting direction information and use it as the ambient lighting angle deviation value.

[0187] Among them, the ambient light angle deviation value refers to the deviation angle value when there is an angle deviation in the light direction at the location where the ambient light direction and the brightness have the minimum abnormal deviation. The deviation angle between the ambient light direction information and the abnormal minimum light direction information is analyzed and calculated and used as the ambient light angle deviation value for convenience in subsequent use.

[0188] Step S47636: Analyze and determine the comprehensive lighting impact value based on the abnormal minimum lighting distance value, the minimum lighting angle deviation value, the ambient lighting intensity value and the ambient lighting angle deviation value, and use the comprehensive lighting impact value as the lighting impact value.

[0189] Among them, the comprehensive lighting impact value refers to the comprehensive impact degree of lighting on brightness abnormality. By analyzing the abnormal minimum lighting distance value, the minimum lighting angle deviation value, the ambient lighting intensity value and the ambient lighting angle deviation value, the comprehensive lighting impact value is determined and used as the lighting impact value, thereby improving the accuracy of the obtained lighting impact value.

[0190] The methods for determining the comprehensive impact value of light include:

[0191] According to the preset comprehensive illumination impact value calculation formula, the abnormal minimum illumination distance value, the minimum illumination angle deviation value, the ambient illumination intensity value and the ambient illumination angle deviation value are calculated to obtain the comprehensive illumination impact value;

[0192] The calculation formula for the comprehensive lighting impact value refers to the formula used to calculate the comprehensive lighting impact value, and the calculation formula for the comprehensive lighting impact value is obtained after the operator pre-enters. The calculation formula for the comprehensive lighting impact value is A is the comprehensive illumination impact value, S is the abnormal minimum illumination distance value, k is the preset distance unit impact value, θ1 is the minimum illumination angle deviation value, θ2 is the ambient illumination angle deviation value, α is the angle deviation unit impact value, E is the ambient illumination intensity value, and β is the preset illumination intensity reference impact value. The distance unit impact value, angle deviation unit impact value, and illumination intensity reference impact value are all obtained through pre-input by the operator.

[0193] For example, when S=0.1, k=0.2, θ1=10, θ2=30, α=0.01, E=0.4, β=0.5, the comprehensive impact value of illumination is .

[0194] Based on the same inventive concept, an embodiment of the present invention provides an automatic spot welding system for a motor rotor of an electric tool, comprising:

[0195] An acquisition module is used to obtain weight detection values, image detection information and external environment lighting information;

[0196] Memory, used to store Figures 1 to 7 A procedure for the automatic spot welding method of a motor rotor of an electric tool as described in any one of the above;

[0197] The processor loads and executes the program in the memory and implements Figures 1 to 7 Any one of the methods for automatic spot welding of electric tool motor rotors.

[0198] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a program that can be loaded and executed by the processor. Figures 1 to 7 A computer program for the automatic spot welding method of the electric tool motor rotor as described in any one of the above.

[0199] 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 above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0200] 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 method for automatic spot welding of a motor rotor of an electric tool, characterized in that: include: Obtain the weight detection value and image detection information detected by the operating table of the spot welding machine; Determine weight specification information based on weight test value analysis; Retrieve the specification gap reference position point based on the weight specification information; Determine the gap detection location point based on the image detection information and weight specification information analysis; Analyze the deviation distance between the specification gap reference position point and the gap detection position point and use it as the gap position deviation distance value; According to the correspondence between the gap position deviation distance value and the preset rotation angle adjustment information, the rotation angle adjustment information corresponding to the gap position deviation distance value is determined, and the rotation angle adjustment information is output to the operating table of the spot welding machine to adjust the angle of the motor rotor.

2. The automatic spot welding method for electric tool motor rotor according to claim 1, characterized in that: Methods for determining weight specification information include: Query and retrieve the initial specification information of the rotor based on the weight detection value; Retrieve the initial weight value of the rotor based on the initial specification information of the rotor; Calculate the difference between the weight detection value and the initial weight value of the rotor and use it as the estimated weight of the commutator; According to the correspondence between the rotor initial specification information and the preset commutator initial specification information, the commutator initial specification information corresponding to the rotor initial specification information is determined; Retrieving the commutator reference weight range based on the commutator initial specification information; The commutator adjustment specification information is determined based on whether the commutator weight estimate falls within the commutator reference weight range, and the commutator adjustment specification information is used as the weight specification information.

3. The automatic spot welding method for electric tool motor rotor according to claim 2, characterized in that: The method for determining the commutator adjustment specification information includes: Determine whether the estimated value of the commutator weight falls within the commutator reference weight range; If yes, the initial specification information of the commutator is used as the adjustment specification information of the commutator; If not, the difference between the estimated commutator weight and the commutator reference weight interval is calculated and used as the commutator weight deviation value; Calculate the sum of the commutator weight deviation value and the rotor initial weight value and use it as the rotor adjustment weight value; Calculate the difference between the weight detection value and the rotor adjustment weight value and use it as the commutator weight adjustment value; According to the correspondence between the commutator weight adjustment value and the preset weight adjustment specification information, the weight adjustment specification information corresponding to the commutator weight adjustment value is determined, and the weight adjustment specification information is used as the commutator adjustment specification information.

4. The method for automatic spot welding of electric tool motor rotor according to claim 1, characterized in that: Methods for determining gap detection position points include: Performing image preprocessing based on the image detection information to form image preprocessing information; Performing brightness conversion based on the image preprocessing information to form image brightness information; Retrieve the image brightness value and the image brightness position point based on the image brightness information; Calculate the difference between the image brightness values ​​of adjacent image brightness position points and use it as the brightness deviation value; Retrieve the specification gap interval value based on the weight specification information; According to the corresponding relationship between the specification gap interval value and the preset brightness deviation reference value, the brightness deviation reference value corresponding to the specification gap interval value is determined; The gap selection position point is determined according to the judgment result of whether the brightness deviation value is greater than the brightness deviation reference value, and the gap selection position point is used as the gap detection position point.

5. The automatic spot welding method for electric tool motor rotor according to claim 4, characterized in that: The method for determining the gap selection position point includes: Determine whether the brightness deviation value is greater than the brightness deviation reference value; If yes, then based on the brightness deviation value, the image brightness position point corresponding to the smaller image brightness value is retrieved and used as the dark portion position point; Calculate the distance between the dark part position point and the preset image middle position point and use it as the dark part position deviation distance value; Sort the dark part position points from small to large based on the dark part position deviation distance values, and use the dark part position point corresponding to the dark part position deviation distance value with the first ranking as the gap selection position point; If not, the difference between the brightness deviation value and the brightness deviation reference value is calculated and used as the brightness deviation abnormal value; The gap estimation position point is determined based on the brightness deviation outlier analysis, and the gap estimation position point is used as the gap selection position point.

6. The method for automatic spot welding of electric tool motor rotor according to claim 5, characterized in that: Methods for determining gap estimation position points include: Sort the brightness deviation outliers from small to large, and use the image brightness position point corresponding to the brightness deviation outlier value ranked first as the outlier selection position point; Calculate the position deviation between the abnormal selected position point and the preset illumination output position point and use it as the abnormal minimum illumination vector value; Determine the illumination impact value based on the abnormal minimum illumination vector value analysis; Calculate the sum of the illumination impact value and the brightness deviation abnormal value and use it as the abnormal deviation adjustment value; Determine whether the abnormal deviation adjustment value is less than the preset abnormal deviation reference value; If yes, the abnormal selected position point is used as the gap estimation position point; If not, the abnormal selected position points are removed, and the abnormal selected position points are reselected according to the sorting result of the brightness deviation abnormal values.

7. The automatic spot welding method for electric tool motor rotor according to claim 6, characterized in that: Methods for determining the lighting impact value include: Based on the abnormal minimum illumination vector value, the abnormal minimum illumination distance value and the abnormal minimum illumination direction information are retrieved; Analyze the deviation angle between the abnormal minimum illumination direction information and the preset illumination reference direction information and use it as the minimum illumination angle deviation value; Obtain external environment lighting information; Based on the external environment lighting information, the ambient lighting intensity value and the ambient lighting direction information are retrieved; Calculate the deviation angle between the ambient lighting direction information and the abnormal minimum lighting direction information and use it as the ambient lighting angle deviation value; The comprehensive lighting impact value is determined based on the analysis of the abnormal minimum lighting distance value, the minimum lighting angle deviation value, the ambient lighting intensity value and the ambient lighting angle deviation value, and the comprehensive lighting impact value is used as the lighting impact value.

8. The method for automatic spot welding of electric tool motor rotor according to claim 7, characterized in that: The methods for determining the comprehensive impact value of light include: According to the preset comprehensive illumination impact value calculation formula, the abnormal minimum illumination distance value, the minimum illumination angle deviation value, the ambient illumination intensity value and the ambient illumination angle deviation value are calculated to obtain the comprehensive illumination impact value; The calculation formula for the comprehensive impact value of illumination is: ; A is the comprehensive impact value of light; S is the abnormal minimum illumination distance value; k is the preset distance unit influence value; θ1 is the minimum illumination angle deviation value; θ2 is the ambient light angle deviation value; α is the unit impact value of the angle deviation; E is the ambient light intensity value; β is the preset light intensity benchmark impact value.

9. An automatic spot welding system for electric tool motor rotor, characterized in that: include: An acquisition module is used to obtain weight detection values, image detection information and external environment lighting information; A memory for storing a program of the method for automatic spot welding of a motor rotor of an electric tool according to any one of claims 1 to 8; A processor is configured to load and execute a program in a memory and implement the automatic spot welding method for a motor rotor of an electric tool as claimed in any one of claims 1 to 8.

10. An intelligent terminal, 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 the method for automatic spot welding of a motor rotor of an electric tool as claimed in any one of claims 1 to 8.

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