Method and system for welding a bucket rod box based on machine vision

Abstract

The present application discloses a welding method and a welding system for a bucket arm box based on machine vision. The welding method includes: establishing a standard welding appearance database, including a weld path and a three-dimensional weld shape; based on the standard welding appearance database, reducing it by 90%-95% proportionally on the basis of the three-dimensional weld shape to obtain initial welding parameters, and quickly welding the bucket arm box to be welded according to the weld path and the initial welding parameters by a welding robot to obtain an initial bucket arm box; identifying the appearance information of the initial bucket arm box through machine vision, and precisely welding the initial bucket arm box in a supplementary manner based on the three-dimensional weld shape; identifying the appearance information of the initial bucket arm box again to form primary appearance data information, comparing the primary appearance data information with the qualified welding appearance information, and if the difference is within the first threshold range, the welding is completed. The welding method and the welding system provided by the present application can form the bucket arm box in one time, with high working efficiency and high yield.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic welding, and particularly to a welding method and a welding system for a boom box based on machine vision. Background Art

[0002] The boom box, often simply referred to as the boom or the arm, is an important part of an excavator, mainly used to control the bucket for excavation and loading operations. Refer to Figure 1 , the boom box 10 is generally welded by two parallel steel plates 11 and internal vertical stiffening ribs 12, in a three-dimensional form, and is also provided with a plurality of shaft holes 101. The thickness of the parallel steel plates 11 mainly depends on factors such as the specific model, design load, working conditions, and material strength. Generally, the minimum thickness is 6 mm, and that of large excavators may reach up to 30 mm.

[0003] In the prior art, various tooling or auxiliary tooling are usually set to complete the rapid welding of the boom box. Although the work efficiency can be improved to a certain extent, the welding quality is difficult to guarantee.

[0004] For example, the invention patent with the application number CN202410868911.X discloses a welding mechanism and method for an excavator boom. By setting a lifting component and a leveling cylinder on the surface of the lifting platform, after the main frame of the excavator boom is hoisted onto the surface of the lifting platform, the height of both ends of the positioning bracket can be adjusted to facilitate the fixation of the main frame of the excavator boom, reducing the difficulty of fixing the main frame of the excavator boom and improving the welding efficiency. By setting a rotating component, when one side of the main frame of the excavator boom is welded, the first docking plate is driven to rotate by a driving device, and the first docking plate drives the main frame of the excavator boom to flip through the second docking plate, realizing the rapid flipping of the main frame of the excavator boom and further improving the welding efficiency.

[0005] For example, the utility model patent with the application number CN202220058116.0 discloses a boom processing and welding device. Through a sliding clamping structure and a driving structure, when welding and fixing the boom, the driving structure drives the moving block to move on two slide rails. When the rotating clamping components contact the boom, the four rotating clamping components rotate on four hinge seats, so that both ends of the four rotating clamping components contact the boom, thereby achieving the purpose of fixing the irregular boom and effectively reducing the clamping operation time of the boom.

[0006] Therefore, it is necessary to provide a technology that not only has a relatively fast welding efficiency but also has self-checking of welding quality, in order to be able to process a boom box with high welding quality in one go. Summary of the Invention

[0007] An embodiment of the present application provides a welding method and a welding system for a bucket arm box based on machine vision, which not only have a relatively fast welding efficiency, but also have a self-inspection function, and can process a bucket arm box with high welding quality at one time.

[0008] In the first aspect of the embodiment of the present application, a welding method for a bucket arm box based on machine vision is provided, which sequentially includes the following steps:

[0009] S10. Establish a standard welding appearance database based on a bucket arm box with qualified welding appearance information, where the qualified welding appearance information includes a weld path and a three-dimensional weld shape;

[0010] S20. Based on the standard welding appearance database, reduce the three-dimensional weld shape by 90%-95% in proportion to obtain initial welding parameters, and quickly weld the bucket arm box to be welded by a welding robot according to the weld path and the initial welding parameters to obtain an initial bucket arm box;

[0011] S30. Identify the appearance information of the initial bucket arm box through machine vision, and based on the three-dimensional weld shape, precisely weld the initial bucket arm box by the welding robot in a supplementary manner;

[0012] S40. Identify the appearance information of the initial bucket arm box through machine vision again to form primary appearance data information, compare the primary appearance data information with the qualified welding appearance information, and if the difference between the dimensions of the three-dimensional weld shape in the primary appearance information and the dimensions of the three-dimensional weld shape is within the first threshold range, it is determined that the welding is completed.

[0013] In a possible implementation manner, the comparison of the primary appearance data information and the qualified welding appearance information is specifically: comparing the weld coverage range of the three-dimensional weld shape and the convexity of the weld coverage range between the two.

[0014] In a possible implementation manner, within the first threshold range means that the error ratio of the weld coverage range of the three-dimensional weld shape between the two, and the error ratio of the convexity of the weld coverage range of the three-dimensional weld shape between the two are within ±10%.

[0015] In a possible implementation manner, in step S30, the precise welding of the initial bucket arm box by the welding robot in a supplementary manner is specifically: increasing the initial welding parameters by 1.04 times - 1.07 times in proportion to form primary compensation parameters, and the increased part is the compensation welding parameters, and the initial bucket arm box is precisely welded by the welding robot according to the weld path and the compensation welding parameters.

[0016] In a possible implementation, in step S40, if the difference between the three-dimensional shape size of the weld in the primary appearance information and the size of the three-dimensional shape of the weld exceeds the first threshold range, the appearance information of the dipper stick box is recognized for the third time by machine vision, and based on the three-dimensional shape of the weld, the initial dipper stick box is secondarily precision welded in a complementary manner by the welding robot.

[0017] In a possible implementation, the secondary precision welding of the initial dipper stick box in a complementary manner by the welding robot specifically means that, based on the primary compensation parameters, it is increased proportionally by 1.05 to 1.08 times, and the increased part is the secondary compensation welding parameters. The initial dipper stick box is continuously precision welded by the welding robot according to the weld path and the secondary compensation welding parameters.

[0018] In a possible implementation, the rotary positioner is used to directionally rotate the dipper stick box to be welded horizontally at a rotation frequency of 180°. The vision robot and the welding robot are symmetrically distributed on both sides of the rotation direction of the dipper stick box to be welded, where the vision robot provides machine vision.

[0019] In a possible implementation, the interval time between the rapid welding of the dipper stick box to be welded in step S20 and the precision welding of the initial dipper stick box in a complementary manner in step S30 is 2 - 4 minutes, and the interval time between the precision welding of the initial dipper stick box according to the compensation welding parameters in step S30 and the secondary precision welding of the initial dipper stick box in a complementary manner in step S40 is 2 - 4 minutes.

[0020] A second aspect of the embodiments of the present application provides a dipper stick box welding system based on machine vision for implementing the dipper stick box welding method based on machine vision as described above. The welding system includes a control cabinet, a rotary positioner, a welding robot, and a vision robot. The rotary positioner has a side output end, and the rotary positioner drives the side output end to rotate directionally in the horizontal direction. The side output end is connected with a fixing fixture for fixing the dipper stick box, where the dipper stick boxes are symmetrically distributed on both sides of the fixing fixture. The welding robot and the vision robot are respectively facing both sides of the fixing fixture, so that when the welding robot welds the dipper stick box on one side, the vision robot can visually scan and identify the dipper stick box on the other side.

[0021] In a possible implementation, the fixing fixture includes a main bracket and an inner support mechanism and an outer pressing mechanism symmetrically distributed on both sides of the main bracket;

[0022] The inner support mechanism includes a plurality of telescopic cylinders spaced apart along the outer side of a predetermined area for placing the bucket arm box. The output end of the telescopic cylinder is connected with a support block, so that the plurality of telescopic cylinders can respectively drive the support blocks to abut against the inner support rib plates between two parallel steel plates above and below the bucket arm box, thereby forming support and fixation for the bucket arm box.

[0023] The outer pressing mechanism includes a plurality of pressing cylinders spaced apart along the outer edge of the predetermined area. The output end of the pressing cylinder is vertically connected with a pressing frame, and the front end of the pressing frame is connected with a positioning member that matches the shaft hole of the bucket arm box.

[0024] Beneficial effects: Compared with the prior art, the welding method and welding system of the bucket arm box based on machine vision provided by this application integrate machine vision technology and multi-pass welding technology at the same time. First, the welding robot quickly welds the initial weld seam, and then, after the machine vision analysis and judgment, complementary precision welding is carried out. It not only has a relatively high welding efficiency, but also can effectively ensure the welding forming quality, and can avoid the risk of grain coarsening in the heat affected zone and welding defects easily caused by the accumulation of the interlayer temperature of the weld seam.

[0025] Each welding of the welding robot is carried out in a complementary manner, including initial welding, primary compensation welding and secondary compensation welding, rather than direct full welding. It can fully utilize the analysis and judgment of machine vision to ensure that the weld seam is extremely close to the three-dimensional shape of the weld seam with qualified welding appearance information. Therefore, the one-time welding forming of the bucket arm box can be completed in the form of multi-pass welding, with high forming efficiency and high forming quality, and the yield rate of the one-time formed bucket arm box can be controlled above 99%.

[0026] The interval time between adjacent two complementary weldings is controlled within 2-4 minutes, which can further ensure the welding forming quality of the bucket arm box.

[0027] In the welding system, first, the telescopic cylinder cooperates with the support block to position and fix the bucket arm box, which is convenient to operate. Then, the pressing cylinder cooperates with the pressing wheel or pressing pad to press the bucket arm box, which can effectively ensure the stability of the bucket arm box during the welding process, thereby effectively ensuring the welding quality of one-time forming.

[0028] These and other objects, features and advantages of the present invention are fully embodied by the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Shows the structural schematic diagram of the bucket arm box in the prior art.

[0030] Figure 2The flowchart of the boom box welding method based on machine vision according to the present application is shown.

[0031] Figure 3 The flowchart of the process from initial welding to primary supplementary welding in the boom box welding method based on machine vision according to the present application is shown.

[0032] Figure 4 The structural schematic diagram of the boom box welding system based on machine vision according to the present application is shown.

[0033] Figure 5 The partial enlarged structural schematic diagram of the boom box welding system based on machine vision according to the present application is shown. Detailed implementation manners

[0034] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art can think of other obvious variations. The basic principles defined in the following description of the present invention can be applied to other embodiments, variations, improvements, equivalent embodiments, and other technical solutions without departing from the spirit and scope of the present invention.

[0035] Those skilled in the art should understand that in the disclosure of the specification, the orientation or positional relationships indicated by the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limitations on the present invention.

[0036] It can be understood that the term "one" should be understood as "at least one" or "one or more". That is, in one embodiment, the number of an element can be one, while in other embodiments, the number of the element can be multiple. The term "one" should not be construed as a limitation on the number.

[0037] Refer to Figure 2 , in the first aspect of the embodiments of the present application, a boom box welding method based on machine vision is provided, which successively includes the following steps:

[0038] S10. Establish a standard welding appearance database based on the boom box with qualified welding appearance information, where the qualified welding appearance information includes the weld path and the three-dimensional weld shape, and the three-dimensional weld shape includes the area covered or occupied by the weld on the boom box and the protruding part (or called convexity) on this covered or occupied area;

[0039] S20. Based on the standard welding appearance database, on the basis of the three-dimensional shape of the weld, it is reduced by 90%-95% in the same proportion to obtain the initial welding parameters, that is, the initial weld shape information. The welding robot quickly welds the to-be-welded bucket arm box according to the weld path and the initial welding parameters, which can greatly ensure the welding efficiency and obtain the initial bucket arm box (such as Figure 3 part a in

[0040] ), and the initial welding is completed;

[0041] S30. Identify the appearance information of the initial bucket arm box through machine vision, mainly identify the three-dimensional shape information of the weld obtained by the initial rapid welding. At the same time, based on the three-dimensional shape of the weld on the bucket arm box with qualified welding appearance information, the welding robot precisely welds the initial bucket arm box in a supplementary manner, that is, makes up on the basis of the initial welding. The form of making up is to be close to the three-dimensional shape of the weld, rather than directly forming a full weld or exceeding the range of the three-dimensional shape of the weld. At this time, one supplementary welding is completed; Figure 3 part b in

[0042] During the process of one-time welding and forming of the bucket arm box, it is necessary to ensure that the amount of the initial welding is 90%-95% of the full weld amount, that is, welding is carried out by reducing 90%-95% in the same proportion on the basis of the three-dimensional shape of the weld, and the weld position remains completely unchanged. Subsequently, comparison is carried out through machine vision to confirm the difference value between the weld on the initial bucket arm box obtained by the initial welding and the weld on the qualified bucket arm box. Then, based on this difference value, secondary welding is carried out in a supplementary form on the basis of the weld of the initial bucket arm box, so that after the supplementary secondary welding, the weld on the initial bucket arm box can be extremely close to the weld on the qualified bucket arm box. Subsequently, comparison is carried out through machine vision again. If the difference value between the two is within the first threshold range, it is determined that the welding is completed. Among them, during the process of supplementary welding to ensure that it can be extremely close to the weld on the qualified bucket arm box, considering the relationship of certain welding errors, the supplementary welding is preferably not to reach the full weld degree or not to exceed the range of the three-dimensional shape of the weld, as long as it can ensure that the difference value between the two welds is within the first threshold range. Obviously, even if the welding finally exceeds the range of the three-dimensional shape of the weld due to welding errors, as long as the difference value between the two is within the first threshold range, the welding quality requirements are still met, and it can be confirmed that the welding is completed.

[0043] In addition, taking into account the existence of welding errors, the weld surface of the initial boom box obtained after the initial rapid welding may not be very smooth, that is, it may have a slightly convex or slightly concave part. In this case, in the second welding as a supplementary welding, based on the specific surface information of the weld identified by machine vision, the supplementary welding as a precision welding will make up for this defect as much as possible, so that the final difference is within the first threshold range.

[0044] For each boom box, during the automatic welding process, the three-dimensional shape of the weld on the boom box with qualified welding appearance information is used as a reference comparison standard. Therefore, the welding forming quality of the boom box can be guaranteed.

[0045] In one embodiment, the comparing the primary appearance data information and the qualified welding appearance information specifically includes comparing the weld coverage of the three-dimensional shape of the weld and the convexity of the weld coverage.

[0046] In one embodiment, being within the first threshold range means that the error ratio of the weld coverage of the three-dimensional weld shape and the error ratio of the convexity of the weld coverage of the three-dimensional weld shape are within ±10%. Both of these conditions must be met for the boom box weld to be considered acceptable. If the machine vision determines that the weld is unacceptable, additional welding is required. According to relevant standards such as ISO, AWS (American Welding Society), GB (Chinese National Standard), and related specifications or design requirements, weld dimensional errors are typically controlled between ±10% and ±15%. Generally, each additional weld is based on approaching the acceptable boom box weld, rather than directly welding to the full weld or exceeding the three-dimensional weld shape range. This ensures that there is still room for additional welding after each weld and machine vision assessment, or that the weld directly meets the acceptable weld standard after welding and machine vision assessment, rather than directly exceeding the first threshold range. The probability of the latter scenario is obviously extremely small, which is key to ensuring a yield rate of over 99% for the boom box welded in one go.

[0047] In one embodiment, in step S30, the initial stick box is precisely welded by the welding robot in a complementary manner, specifically, the initial welding parameters are increased by 1.04 to 1.07 times in the same proportion, that is, Figure 3 In the process from a to b, a compensation parameter is formed, and the increase part ( Figure 3The gray area in part b of the Chinese version) is the part that needs to be supplemented for welding. From this, the compensation welding parameters are obtained. The initial bucket arm box is precisely welded by the welding robot according to the weld path and the compensation welding parameters. During this process, as mentioned before, due to the problem of welding error, although it is a very small error, in the supplementary welding as precision welding, the compensation parameters for the supplementary welding are flexibly adjusted between 1.04 times and 1.07 times the increased ratio, rather than a fixed value. That is to say, the amount of supplement may be larger in some areas and smaller in some areas.

[0048] Based on the initial welding ratio of 90%-95%, the increased ratio for the supplementary welding is 1.04-1.07. Therefore, the size ratio of the weld after supplementation to the weld of the qualified bucket arm box is between 0.9*1.04 = 0.936 and 0.95*1.07 = 1.0165, that is, between -6.4% and 1.6%, fully meeting the standard of the first threshold range (±10%). Therefore, the space for the supplementary welding or the supplementary allowance is relatively large.

[0049] Under normal circumstances, when forming the second-pass welding through the supplementary welding, the weld sizes of most bucket arm boxes can already meet the requirements. However, considering that in some extreme cases, there is still a situation where the difference between the final product and the qualified product is less than -10% (that is, the value obtained by subtracting the three-dimensional shape size of the qualified product weld from the three-dimensional shape size of the final product weld) due to the relatively large welding error. Because it is supplementary welding, the amount of supplement is between -6.4% and 1.6%, and the supplementary range tends to be negative (that is, it cannot reach the full-weld degree), rather than positive (that is, exceeding the full-weld situation). Therefore, it is basically impossible for the difference between the two to exceed 10%. In one embodiment, if the difference between the three-dimensional shape size of the weld in the first appearance information and the size of the three-dimensional shape of the weld exceeds the first threshold range, the appearance information of the bucket arm box is recognized for the third time by machine vision, and the three-dimensional shape information of the weld after the first supplementary precision welding is recognized again. Based on the three-dimensional shape of the weld, the initial bucket arm box is secondarily precisely welded by the welding robot in a supplementary manner, so as to further make up for the welding defects and ensure that the bucket arm box can be welded into a single piece at one time.

[0050] Further preferably, the secondary precise welding of the initial bucket arm box by the welding robot in a supplementary manner is specifically that, on the basis of the first compensation parameters, it is increased by 1.05 times to 1.08 times in the same proportion, and the increased part is the secondary compensation welding parameters. The initial bucket arm box is continuously precisely welded by the welding robot according to the weld path and the secondary compensation welding parameters.

[0051] The principle of secondary supplementary welding is similar to that of primary supplementary welding. The magnification factor of secondary supplementary welding is 1.05 - 1.08. Secondary supplementary welding is basically local supplementary welding, that is, it mainly compensates for the part where the difference between the two is less than -10%. For other parts that need to be compensated (the difference between the two is greater than -10% and less than 0), only a small amount of compensation is carried out or no compensation is carried out, and the welding requirements can still be met. Therefore, the magnification factor is 1.05 - 1.08, which is greater than 1.04 - 1.07 in step S30. If it is less than or equal to the magnification factor in step 30, secondary supplementary welding may still be required due to some special circumstances. Therefore, appropriately increasing this magnification factor can not only reduce the probability of secondary supplementary welding, thereby accelerating the welding forming rate, but also directly meet the welding requirements. 0.9 * 1.05 = 94.5%, 0.9 * 1.08 = 97.2%. That is, based on -10% as the base, after secondary compensation, the ratio of the weld seam to the weld seam on the qualified bucket arm box is 94.5% - 97.2%, which can meet the requirements of the first threshold range. During the working process, through experimental research and obtaining normal processing operation data, the probability of secondary compensation is 0.3‰. Therefore, the probability of secondary supplementary welding is extremely low. Based on machine vision, after initial welding and primary supplementary welding, the one-time forming qualified product rate of the bucket arm box can be ensured to be above 99%.

[0052] It is worth mentioning that, when conditions permit, the number of times of supplementary welding is not limited. There may be a third supplementary welding, a fourth supplementary welding, etc. These conditions include the first threshold range value (which may be greater than ±10% and less than ±15%) and the compensation ratio value. However, the final result can ensure that the bucket arm box can be welded and formed at one time. In addition, the more times of supplementary welding, the smaller the amount of compensation each time. Although this will sacrifice a certain amount of welding time, it can significantly further improve the one-time forming qualified product rate and further improve the weld quality of the bucket arm box welding. The processes of the third supplementary welding, the fourth supplementary welding, and subsequent supplementary weldings (which can be simply referred to as several supplementary weldings after secondary supplementary welding) are the same as the process of secondary supplementary welding, that is, first, the machine vision is used to identify and confirm the amount of weld seam to be compensated, and then supplementary welding is carried out with a magnification factor of 1.05 - 1.08.

[0053] In one embodiment, the rotary positioner is used to rotate the bucket arm box to be welded directionally at a rotation frequency of 180° in the horizontal direction. At the same time, the vision robot and the welding robot are symmetrically distributed on both sides of the rotation direction of the bucket arm box to be welded. The vision robot provides machine vision. That is to say, the machine vision and the welding robot are located on two opposite sides in the horizontal direction, and welding and vision recognition do not interfere with each other, and at the same time, it does not affect the welding efficiency of the bucket arm box.

[0054] The steel plates forming the dipper stick box are generally thick plates with a thickness of more than 6 mm. The thickness of the steel plates of the dipper stick box of large excavators may reach 30 mm. In the welding of thick plates, full penetration welding is often not directly used, which is likely to directly affect the welding quality, residual stress and deformation control. Therefore, it is best to carry out multi-pass welding in an intermittent welding manner. However, the intermittent time cannot be too short, otherwise it is easy to cause too high interpass temperature, which will increase the risk of grain coarsening and welding defects in the heat affected zone (HAZ). At the same time, the intermittent time should not be too long, otherwise it may reduce the welding efficiency and even cause cold cracks (especially for high-strength steel or materials with hardening tendency). Therefore, in one embodiment, the intermittent time between the rapid welding of the dipper stick box to be welded in step S20 and the precision welding of the initial dipper stick box in a supplementary manner in step S30 is 2 - 4 minutes. At the same time, the intermittent time between the precision welding of the initial dipper stick box according to the compensation welding parameters in step S30 and the secondary precision welding of the initial dipper stick box in a supplementary manner in step S40 is 2 - 4 minutes.

[0055] Combined with Figure 1 、 Figure 4 and Figure 5 , the second aspect of the embodiment of the present application provides a dipper stick box welding system based on machine vision for implementing the dipper stick box welding method based on machine vision as described above. The welding system includes a control cabinet 20, a rotary positioner 30, a welding robot 40 and a vision robot (not shown in the figure). The rotary positioner 30 has a side output end 31. At the same time, the rotary positioner 30 drives the side output end 31 to rotate directionally in the horizontal direction, and the rotation amount in the circumferential direction is basically controlled at 180° per rotation. In addition, a fixing fixture 32 for fixing the dipper stick box 10 is connected to the side output end 31. The dipper stick boxes 10 are symmetrically distributed on both sides of the fixing fixture 32, and the welding robot 40 and the vision robot are respectively facing both sides of the fixing fixture 32, so that when the welding robot 40 welds the dipper stick box 10 on one side, the vision robot can visually scan and identify the dipper stick box 10 on the other side. In this way, welding and visual recognition do not interfere with each other. At the same time, the rotary positioner 30 rotates 180° each time, which can ensure that the working ranges of the welding robot 40 and the vision robot are the same. The information recognized by the vision robot only needs to be rotated 180° to completely correspond to the welding robot 40, which is convenient and accurate to control.

[0056] Further preferably, the fixing fixture 32 includes a main bracket 321, and an inner support mechanism and an outer pressing mechanism symmetrically distributed on both sides of the main bracket 321;

[0057] The inner support mechanism includes a plurality of telescopic cylinders 322 that are spaced apart along the outer side of a predetermined area, where the predetermined area is for placing the bucket arm box 10. The output end of the telescopic cylinder 322 is connected with a support block 323, so that the plurality of telescopic cylinders 322 can respectively drive the support block 323 to abut against the inner support rib plate 12 between two parallel steel plates 11 of the bucket arm box 10 above and below the bucket arm box 10, forming positioning, support and fixation for the bucket arm box 10, and the operation is convenient.

[0058] The outer pressing mechanism includes a plurality of pressing cylinders 324 that are spaced apart along the outer edge of the predetermined area. The output end of the pressing cylinder 324 is vertically connected with a pressing frame 325. At the same time, a positioning member 326 that cooperates with the shaft hole 101 of the bucket arm box 10 is connected to the front end of the pressing frame 325, so as to be able to accurately position the position of the bucket arm box 10 and ensure the welding accuracy of the bucket arm box 10. The positioning member 326 can be a positioning pin or a positioning shaft.

[0059] Thus, in cooperation with the positioning, support and fixation of the bucket arm box 10 formed by the inner support mechanism, and combined with the accurate positioning of the bucket arm box 10 formed by the outer pressing mechanism, the bucket arm box 10 can be firmly fixed in place, and at the same time, the operation is convenient and easy to maintain.

[0060] The operation process is generally as follows: First, move the support block 323 below into place, then place the bucket arm box 10 on the support block 323 below, and then the pressing cylinder 3231 drives the positioning member 326 to insert into the corresponding shaft hole 101 to accurately position the bucket arm box 10. Finally, move the support block 323 above, so that the support block 323 above and the support block 323 below can firmly clamp the bucket arm box 10. The support block 323 abuts against the inner support rib plate 12 to clamp and fix the bucket arm box 10, or can also abut against the upper and lower edges of the bucket arm box 10 (i.e., the edges of the parallel steel plates 11) and the inner support rib plate 12 at the same time to form clamping and fixation for the bucket arm box 10.

[0061] It should be noted that in this application, the terms "first, second" are only used for descriptive purposes, do not represent any order, and cannot be understood as indicating or implying relative importance. These terms can be interpreted as names.

[0062] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the drawings are only examples and do not limit the present invention. The advantages of the present invention have been fully and effectively realized. The functions and structural principles of the present invention have been shown and described in the embodiments. Without departing from the above principles, the embodiments of the present invention can have any deformation or modification.

Claims

1. A welding method for the bucket rod box based on machine vision, characterized in that, The following steps are included in sequence: S10, establishing a standard welding appearance database based on the boom box having qualified welding appearance information, wherein the qualified welding appearance information includes a weld path and a weld three-dimensional shape; S20, based on the standard welding appearance database, the three-dimensional shape of the weld is proportionally reduced by 90%-95% to obtain initial welding parameters, and the welding robot quickly welds the boom box to be welded according to the weld path and the initial welding parameters to obtain an initial boom box; S30, identifying appearance information of an initial boom box by machine vision, and precisely welding the initial boom box by the welding robot in a complementary manner based on the three-dimensional shape of the weld; S40, identifying the appearance information of the initial stick box again through machine vision to generate primary appearance data information, comparing the primary appearance data information with the qualified welding appearance information, and determining that welding is complete if the difference between the three-dimensional shape and size of the weld in the primary appearance information and the size of the three-dimensional shape of the weld is within a first threshold range; The comparison of the primary appearance data information and the qualified welding appearance information is specifically: comparing the weld coverage of the three-dimensional shape of the weld and the convexity of the weld coverage between the two, wherein within the first threshold range means that the error ratio of the weld coverage of the three-dimensional shape of the weld between the two, and the error ratio of the convexity of the weld coverage of the three-dimensional shape of the weld between the two are both within ±10%.

2. The method for welding the bucket rod box based on machine vision according to claim 1, wherein, In step S30, the initial boom box is precisely welded by the welding robot in a complementary manner. Specifically, the initial welding parameters are proportionally increased by 1.04 times to 1.07 times to form a compensation parameter. The increased part is the compensation welding parameter. The initial boom box is precisely welded by the welding robot according to the weld path and the compensation welding parameter.

3. The method for welding the bucket rod box based on machine vision according to claim 2, characterized in that, In step S40, if the difference between the three-dimensional shape size of the weld in the first appearance information and the size of the three-dimensional shape of the weld exceeds the first threshold range, the appearance information of the boom box is identified for the third time by machine vision, and based on the three-dimensional shape of the weld, the initial boom box is precision-welded a second time in a complementary manner by the welding robot.

4. The method for welding the bucket rod box based on machine vision according to claim 3, characterized in that, The initial boom box is precision welded for the second time by the welding robot in a complementary manner. Specifically, the primary compensation parameters are increased by 1.05 times to 1.08 times in the same proportion. The increased part is the secondary compensation welding parameter. The initial boom box is continued to be precision welded by the welding robot according to the weld path and the secondary compensation welding parameters.

5. The method for welding the bucket rod box based on machine vision according to claim 4, wherein, The boom box to be welded is directionally rotated in the horizontal direction at a rotation frequency of 180° by a rotary positioner, and the vision robot and the welding robot are symmetrically distributed on both sides of the rotation direction of the boom box to be welded, wherein the vision robot provides machine vision.

6. The method for welding the stick box based on machine vision according to claim 4 or 5, characterized in that, The interval time between the rapid welding of the to-be-welded dipper stick box in step S20 and the precision welding of the initial dipper stick box in a supplementary manner in step S30 is 2 - 4 minutes, and the interval time between the precision welding of the initial dipper stick box according to the compensation welding parameters in step S30 and the secondary precision welding of the initial dipper stick box in a supplementary manner in step S40 is 2 - 4 minutes.

7. A boom box welding system based on machine vision, for implementing the boom box welding method based on machine vision according to any one of claims 1 to 6, characterized in that, The welding system includes a control cabinet, a rotary positioner, a welding robot, and a vision robot. The rotary positioner has a side output end, and the rotary positioner drives the side output end to rotate directionally in the horizontal direction. The side output end is connected with a fixing fixture for fixing the dipper stick box. The dipper stick boxes are symmetrically distributed on both sides of the fixing fixture. The welding robot and the vision robot are respectively facing both sides of the fixing fixture, so that when the welding robot welds the dipper stick box on one side, the vision robot can visually scan and identify the dipper stick box on the other side.

8. The boom box welding system based on machine vision according to claim 7, wherein, The fixing fixture includes a main bracket, and an inner support mechanism and an outer pressing mechanism symmetrically distributed on both sides of the main bracket; The inner support mechanism includes a plurality of telescopic cylinders spaced along the outside of a predetermined area, where the predetermined area is for placing the dipper stick box. The output end of the telescopic cylinder is connected with a support block, so that the plurality of telescopic cylinders can correspondingly drive the support blocks to abut against the inner support rib plates between the two parallel steel plates of the dipper stick box above and below the dipper stick box respectively, to form support and fixation for the dipper stick box; The outer pressing mechanism includes a plurality of pressing cylinders spaced along the outer edge of the predetermined area. The output end of the pressing cylinder is vertically connected with a pressing frame, and the front end of the pressing frame is connected with a positioning member that matches the shaft hole of the dipper stick box.

Images