Welding device and welding method thereof

Abstract

The invention discloses a welding device and a welding method thereof, and relates to the technical field of welding equipment, a first driving assembly is in transmission connection with a first fixing assembly and / or a second fixing assembly, and the first driving assembly can drive a first workpiece and / or a second workpiece to a set position; when the first workpiece and the second workpiece are in a welding state, the first welding area is attached to the second welding area; the welding assembly is arranged towards the attaching area of the first welding area and the second welding area. The second driving assembly is in transmission connection with the welding assembly, and the second driving assembly is used for driving the welding assembly to move in the direction close to and away from the attaching area of the first welding area and the second welding area; according to the feedback of the positioning assembly, the relative position of the first welding area and the second welding area can be continuously adjusted through the first driving assembly, so that the first welding area and the second welding area can be accurately aligned, unnecessary material melting and welding spot expansion are reduced, and the diameter of a welding spot in the attaching area of the first workpiece and the second workpiece is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to a welding device and a welding method thereof. Background Art

[0002] In the prior art, the diameter of the welding spot of workpieces such as metal wires is relatively large. The larger diameter welding spot not only reduces the surface smoothness of the workpiece, resulting in more complicated later grinding of the workpiece; it also makes it difficult for the heat generated by the workpiece during the welding process to dissipate, and the thermal stress is easily concentrated inside the welding spot, and even causes problems such as weld cracking and porosity.

[0003] Therefore, how to reduce the diameter of the weld point during workpiece welding to reduce the workload of workpiece grinding and reduce the problem of thermal stress concentration inside the weld point has become a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] The object of the present invention is to provide a welding device and a welding method thereof, so as to reduce the diameter of the welding spot when welding the workpiece, to reduce the workload of the workpiece grinding process, and to reduce the problem of thermal stress concentration inside the welding spot.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a welding device, comprising:

[0007] a first fixing assembly and a second fixing assembly, wherein the first fixing assembly is used to fix the first workpiece, and the second fixing assembly is used to fix the second workpiece;

[0008] a first driving assembly, the first driving assembly being in driving connection with the first fixing assembly and / or the second fixing assembly, the first driving assembly being capable of driving the first workpiece and / or the second workpiece to move; when the first workpiece and the second workpiece are in a welding state, a first welding area of ​​the first workpiece and a second welding area of ​​the second workpiece are in contact with each other;

[0009] A welding assembly, the welding assembly is arranged toward the bonding area of ​​the first welding area and the second welding area; the welding assembly is used to weld the first welding area and the second welding area together;

[0010] a second driving assembly, the second driving assembly being in driving connection with the welding assembly, and the second driving assembly being used to drive the welding assembly to move toward and away from a bonding area between the first welding area and the second welding area;

[0011] A positioning component is used to detect the positions of the first workpiece and the second workpiece.

[0012] Preferably, the welding device further comprises a controller, and the positioning assembly, the welding assembly, the first driving assembly, and the second driving assembly are all connected to the controller by signal;

[0013] When the welding device is in working state, the controller starts the first driving component, and the controller adjusts the first driving component according to feedback from the positioning component, and the first driving component drives the first workpiece and / or the second workpiece to move. When the controller determines that the first welding area and the second welding area are in contact with each other according to feedback from the positioning component, the controller starts the second driving component, and the second driving component drives the welding component to move toward the direction close to the contact area to weld the first welding area and the second welding area.

[0014] Preferably, the welding point of the first workpiece and the second workpiece is located between the first welding area and the second welding area.

[0015] Preferably, the welding assembly includes a welding gun, a receiving trough disposed below the welding gun and used to receive welding slag, and a flux assembly disposed toward the welding gun.

[0016] Preferably, the first driving assembly includes a first driving unit that is transmission-connected to the first fixing assembly and can drive the first fixing assembly to move, and / or the first driving assembly includes a second driving unit that is transmission-connected to the second fixing assembly and can drive the second fixing assembly to move.

[0017] Preferably, the positioning assembly comprises a camera unit, wherein the camera unit comprises a plurality of first cameras surrounding the first workpiece and arranged toward the first workpiece, and a plurality of second cameras surrounding the second workpiece and arranged toward the second workpiece.

[0018] Preferably, the positioning assembly includes a plurality of position sensors arranged on the first fixing assembly and / or the second fixing assembly.

[0019] In addition, the present invention also discloses a welding method using the above welding device, comprising the following steps: step S1, determining the detection range of the positioning component;

[0020] Step S2, setting the step ratio of the first driving component and the second driving component;

[0021] Step S3, processing the position signals of the first workpiece and the second workpiece collected by the positioning component to obtain a first coordinate of the first workpiece and a second coordinate of the second workpiece;

[0022] Step S4, determining the movement direction and movement distance of the first workpiece and the second workpiece according to the first coordinate and the second coordinate, and driving the first workpiece and / or the second workpiece to move in the corresponding direction and the corresponding distance by the first driving component;

[0023] Step S5, after determining that the first welding area and the second welding area are in contact with each other according to the first coordinate and the second coordinate, determining the moving direction and moving distance of the welding assembly according to the first coordinate and the second coordinate at this time;

[0024] Step S6: The controller starts the second driving assembly, and the second driving assembly moves the welding assembly to a corresponding distance in the moving direction determined in the step S5, so as to weld the first welding area and the second welding area.

[0025] Preferably, when the positioning component includes a camera unit, step S1 includes: measuring the field of view of the first camera;

[0026] Step S3 includes the following contents:

[0027] Step S31, binarizing the images of the first workpiece and the second workpiece captured by the camera unit;

[0028] Step S32, performing square hole analysis on the image in step S31;

[0029] Step S33, calculating the pixel coordinates of the first endpoint, where the first endpoint is the endpoint of the first hole on a side close to the second hole;

[0030] Step S34, calculating the pixel difference between the first endpoint and the center point of the image in step S3;

[0031] Step S4, comprising the following contents: converting the pixel difference in step S6 into a movement distance between the first workpiece and the second workpiece;

[0032] Step S36, calculating the pixel coordinates of the second endpoint, where the second endpoint is the endpoint of the second hole on a side close to the first hole;

[0033] Step S37, determining x, y, z coordinates in space through the second endpoint;

[0034] Step S38, using the second driving unit to make the second hole close to the first hole;

[0035] Step S39, after the coordinates of the first endpoint and the second endpoint coincide with each other, a single hole is formed in the image, and the alignment is completed;

[0036] Step S40, determining the moving direction and moving distance of the welding assembly through x, y, and z coordinates.

[0037] Preferably, the first workpiece and the second workpiece are highlighted between step S2 and step S3.

[0038] Compared with the prior art, the present invention has achieved the following technical effects:

[0039] The welding device of the present invention comprises a first fixing component for fixing a first workpiece, a second fixing component for fixing a second workpiece, a first driving component is drivingly connected to the first fixing component and / or the second fixing component, when the welding device is in a working state, a controller or an operator connected to the signal of the first driving component starts the first driving component, and adjusts the first driving component according to the feedback of the positioning component, until it is determined according to the feedback of the positioning component that the first welding area of ​​the first workpiece is in contact with the second welding area of ​​the second workpiece, then the controller or the operator connected to the signal of the second driving component starts the second driving component, and the second driving component drives the welding component to approach the first welding area and the second welding area. The fitting area of ​​the welding zone moves, so that the first welding zone and the second welding zone, that is, the first workpiece and the second workpiece are welded together; wherein, according to the feedback of the positioning component, the relative positions of the first welding zone and the second welding zone can be continuously adjusted by the first driving component, so that the first welding zone and the second welding zone can be accurately aligned, thereby reducing unnecessary material melting and weld expansion, reducing the diameter of the weld in the fitting area of ​​the first workpiece and the second workpiece, avoiding the problem of larger weld diameter due to manual or semi-automatic welding in the traditional welding process, and avoiding the large workload of workpiece grinding in the later stage due to the large weld diameter, and the easy concentration of thermal stress inside the weld, and even causing weld cracking and porosity. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a cross-sectional view of a metal wire welding point in the prior art;

[0042] Figure 2 It is a side view of a metal wire welding point in the prior art;

[0043] Figure 3 A cross-sectional view of a metal wire welding point using the welding device of the present invention;

[0044] Figure 4A side view of a metal wire welding point using the welding device of the present invention;

[0045] Figure 5 It is a structural schematic diagram of a welding device;

[0046] Figure 6 is a schematic structural diagram of a first driving unit;

[0047] Figure 7 is a structural schematic diagram of a first camera;

[0048] Figure 8 It is a structural schematic diagram of a welding assembly;

[0049] Among them, 1. the first fixing component; 2. the second fixing component; 3. the first driving unit; 4. the second driving component; 5. the third driving unit; 6. the welding component; 7. the welding gun; 8. the material receiving trough; 9. the flux component; 10. the first camera; 11. the fill light; 12. the first driving member; 13. the second driving member; 14. the third driving member. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] Since the diameter of the welding spot in the prior art is relatively large, if the metal wire is welded to the catheter, the larger diameter welding spot component will not only reduce the smoothness of the catheter, but also increase the thickness of the catheter, resulting in the catheter may need to spend a long time to grind. In addition, due to the large diameter of the welding spot, thermal stress is easily concentrated inside the welding spot, and even weld cracking and pores are caused. Therefore, the prior art fixes the metal wire to the catheter by gluing, but gluing has strict requirements on the type of adhesive. The surface of the catheter and the metal wire needs to be treated before gluing, and the curing of the adhesive takes a certain amount of time, which increases the difficulty of the process. At the same time, the strength of the adhesive is relatively weak, and the adhesive is easily affected by aging, temperature changes or chemical corrosion and fails, resulting in an unreliable connection. Moreover, in the prior art, the welding gun is prone to deviation during the welding process, and the deviation in the welding direction will cause the weld to be disconnected.

[0053] like Figures 1 to 8As shown, the present invention discloses a welding device, which includes: a first fixing component 1 and a second fixing component 2, the first fixing component 1 is used to fix the first workpiece, and the second fixing component 2 is used to fix the second workpiece; a first driving unit 3, the first driving unit 3 is transmission-connected with the first fixing component 1, and the first driving unit 3 can drive the first workpiece and / or the second workpiece to move; when the first workpiece and the second workpiece are in a welding state (the welding state means that the first workpiece and the second workpiece are aligned and fitted, and the sign of the alignment completion is that the first welding area and the second welding area are aligned and fitted), the first welding area of ​​the first workpiece and the second welding area of ​​the second workpiece are fitted; a welding component 6, the welding component 6 is arranged toward the fitting area of ​​the first welding area and the second welding area; the welding component 6 is used to weld the first welding area and the second welding area together; a second driving component 4, the second driving component 4 is transmission-connected with the welding component 6, and the second driving component 4 is used to drive the welding component 6 to move in the direction close to and away from the fitting area of ​​the first welding area and the second welding area; a positioning component, the positioning component is used to detect the positions of the first workpiece and the second workpiece.

[0054] When the welding device is in working state, the controller or operator connected with the signal of the first driving unit 3 starts the first driving unit 3, and adjusts the first driving unit 3 according to the feedback of the positioning component, until it is determined that the first welding area of ​​the first workpiece and the second welding area of ​​the second workpiece are in contact with each other according to the feedback of the positioning component, and then the controller or operator connected with the signal of the second driving component 4 starts the second driving component, and the second driving component 4 drives the welding component 6 to move toward the contact area close to the first welding area and the second welding area, so as to weld the first welding area and the second welding area, that is, the first workpiece and the second workpiece together; wherein, according to the feedback of the positioning component, the relative position of the first welding area and the second welding area can be continuously adjusted by the first driving unit 3, so that the first welding area and the second welding area can be accurately aligned, thereby reducing unnecessary material melting and weld expansion, reducing the diameter of the weld in the contact area of ​​the first workpiece and the second workpiece, avoiding the problem of large weld diameter caused by manual or semi-automatic welding in the traditional welding process, and avoiding the large workload of workpiece grinding in the later stage due to the large weld diameter, easy thermal stress concentration inside the weld, and even causing weld cracking and pores.

[0055] The first workpiece and the second workpiece can be specifically workpieces that need to be welded and can be welded, such as metal wires, and the cross-section of the metal wire can be circular or rectangular. Figure 5 As shown, the first fixing component 1 and the second fixing component 2 specifically include a clamping jaw that can clamp and fix a workpiece such as a metal wire, and a driving device such as a cylinder that drives the clamping jaw to clamp or release the workpiece such as the metal wire. Alternatively, the first fixing component 1 and the second fixing component 2 can also be other structures that can clamp and fix the workpiece, such as a snap-fit, a magnetic adsorption structure, etc.

[0056] The first driving assembly includes a first driving unit that is transmission-connected with the first fixed assembly and can drive the first fixed assembly to move, and / or the first driving assembly includes a second driving unit that is transmission-connected with the second fixed assembly and can drive the second fixed assembly to move. The transmission connection between the first driving unit 3 and the first fixed assembly 1 means that the first driving unit 3 can drive the first fixed assembly 1 and the workpiece such as the metal wire clamped by the first fixed assembly 1 to move together; the first driving unit 3 can be a multi-degree-of-freedom robotic arm that can rotate and move in multiple directions, or the first driving unit 3 can also be a three-dimensional motion platform, which can also be called a three-dimensional lifting platform. The three-dimensional lifting platform has three directions of movement, the first is the longitudinal horizontal movement in the horizontal plane, the second is the lifting movement in the vertical direction, and the third is the transverse horizontal telescopic movement in the horizontal plane. The transverse, vertical and longitudinal directions are perpendicular to each other, thereby realizing three-dimensional movement; or, if the first fixed assembly 1 and the second fixed assembly 2 can ensure that they are in the same vertical plane or the same horizontal plane after clamping the first workpiece and the second workpiece respectively, the first driving unit 3 can also be set as a two-dimensional motion platform, or even a cylinder or electric push rod that can drive the first fixed assembly 1 to move linearly. Figure 6 As shown, the first driving unit 3 includes a first driving member 12 disposed on a horizontal plane and arranged transversely in the horizontal direction, a second driving member 13 disposed in the vertical direction, and a third driving member 14 disposed longitudinally in the horizontal direction. The second driving member 13 is fixedly connected to the output shaft of the first driving member 12 through a slider, and the third driving member 14 is fixedly connected to the output shaft of the second driving member 13 through a slider. Regardless of the structure of the first driving unit 3, it is necessary to ensure that the first driving unit 3 can drive the first workpiece through the first fixing assembly 1, so that the first welding area and the second welding area are aligned and fitted.

[0057] Furthermore, if the working conditions require, a second drive unit 5 can be provided which is in transmission connection with the second fixed component 2 and can drive the second fixed component 2 and the second workpiece to move. The second drive unit 5 can be a multi-degree-of-freedom mechanical arm that can rotate and move in multiple directions, or the second drive unit 5 can also be a linear drive device such as a three-dimensional motion platform or a two-dimensional motion platform or a cylinder. The arrangement of the first drive component unit 3 and the second drive unit 5 enables the first workpiece and the second workpiece to achieve bidirectional alignment, and can more accurately align and fit the first welding area and the second welding area, thereby avoiding misalignment or offset, thereby improving the welding success rate and quality; the cooperation of the first drive unit 3 and the second drive unit 5 can dynamically adjust the position of the first workpiece and the second workpiece, and then compensate for the size deviation or shape change of the first workpiece and / or the second workpiece during processing or transportation, thereby ensuring the precise fit of the first workpiece and the second workpiece during welding; at the same time, the arrangement of the first drive unit 3 and the second drive unit 5 enables the welding device in the present invention to be applicable to workpieces with complex shapes, inconsistent sizes or requiring multi-region welding.

[0058] The first driving component can drive the first workpiece and / or the second workpiece to move, which includes the following three situations: the first driving component can drive both the first workpiece and the second workpiece to move. At this time, the first driving component includes a first driving unit 3 and a second driving unit 4. The first driving unit 3 drives the first workpiece to move, and the second workpiece is driven to move by the second driving unit 4; or, the first driving component only drives the first workpiece or the second workpiece to move. At this time, the first driving component only has the first driving unit 3 or the second driving unit 4. It should be noted that, when the first driving assembly includes the first driving unit 3 and the second driving unit 4, the first driving unit 3 or the second driving unit 4 can first drive the first workpiece or the second workpiece to move to the first set position, and then the second driving unit 4 or the first driving unit 3 can drive the second workpiece or the first workpiece to move to the second set position. When the first workpiece is in the first set position and the second workpiece is in the second set position, the welding area of ​​the first workpiece and the second welding area of ​​the second workpiece are aligned and fitted. The first driving unit 3 can be continuously adjusted according to the feedback of the positioning assembly until the first workpiece is in the first set position. Similarly, the second driving unit 4 can be continuously adjusted according to the feedback of the positioning assembly until the second workpiece is in the second set position. When the first drive component only has the first drive unit 3, the second workpiece is already in the second set position and does not need to be moved. During the alignment of the first workpiece and the second workpiece, it is only necessary to continuously adjust the first drive unit 3 through the feedback of the positioning component, so that the first workpiece is in the first set position. Alternatively, when the first drive component only has the second drive unit 4, the first workpiece is already in the first set position and does not need to be moved. During the alignment of the first workpiece and the second workpiece, it is only necessary to continuously adjust the second drive unit 4 through the feedback of the positioning component until the second workpiece is in the second set position.

[0059] The welding device also includes a controller, a positioning component, a welding component, a first drive component, and a second drive component, all of which are connected to the controller signal; when the welding device is in a working state, the controller starts the first drive component, and the controller adjusts the first drive component according to the feedback of the positioning component, and the first drive component drives the first workpiece and / or the second workpiece to move. When the controller determines that the first welding area and the second welding area are in contact with each other according to the feedback of the positioning component, the controller starts the second drive component, and the second drive component drives the welding component to move in a direction close to the contact area to weld the first welding area and the second welding area.

[0060] like Figure 5 , Figure 8 As shown, the welding assembly 6 includes a welding gun 7, i.e., a heating welding head, the welding gun 7 is connected to a corresponding heating device, a flux assembly 9, i.e., a nozzle capable of releasing solder or flux, the nozzle is connected to a material box, or the nozzle is provided with a feeding port for adding solder, and a receiving trough 8 is provided below the welding gun 7 for receiving slag and preventing the slag from splashing and damaging the first workpiece and / or the second workpiece. The second drive assembly 4 can specifically be a multi-degree-of-freedom robotic arm capable of rotating and moving in multiple directions, or the second drive assembly 4 can also be a linear drive device such as a three-dimensional motion platform or a two-dimensional motion platform or a cylinder, or a linear stepping motor. The controller and the setting of the welding assembly 6 enable the heating welding head to quickly leave after welding the first welding area and the second welding area together, thereby avoiding the problem of too long contact time between the heating welding head and the first welding area and the second welding area, resulting in an excessively large weld diameter. In this way, when the welding device of the present invention is used for welding a catheter, i.e., when the first workpiece or the second workpiece is a catheter, the present invention can effectively improve the smoothness of the catheter surface. Figure 5 As shown, the first workpiece is a first metal wire, the second workpiece is a second metal wire, and the welding point of the first metal wire and the second metal wire is located between the first welding area and the second welding area.

[0061] like Figure 5 , Figure 7As shown, the positioning component includes a camera unit, and the camera unit includes a plurality of first cameras 10 surrounding the first workpiece and arranged toward the first workpiece, and a plurality of second cameras surrounding the second workpiece and arranged toward the second workpiece. The first camera 10 and the second camera are the same camera, and a fill light 11 is provided on one side of the first camera 10 and the second camera. The relative position of the first workpiece and the second workpiece is observed by the camera unit to determine whether the first welding area and the second welding area are fitted. Alternatively, the first workpiece can also be a plurality of position sensors arranged on the first fixing component 1 and / or the second fixing component 2. In this case, the corresponding coordinates of the first fixing component 1 and the second fixing component 2 need to be entered in advance in a controller such as a computer, so that the relative position of the first workpiece and the second workpiece can be accurately determined according to the detection of the position sensor.

[0062] In addition, the present invention also discloses a welding method using the above-mentioned welding device, and the welding method includes: step S1, determining the detection range of the positioning component; step S2, setting the step ratio of the first drive component and the second drive component; step S3, processing the position signals of the first workpiece and the second workpiece collected by the positioning component, and obtaining the first coordinate of the first workpiece and the second coordinate of the second workpiece; step S4, determining the movement direction and movement distance of the first fixing component and the second fixing component according to the first coordinate and the second coordinate, and starting the first drive unit and the second drive unit; step S5, after determining that the first welding area and the second welding area are in contact according to the first coordinate and the second coordinate, determining the movement direction and movement distance of the welding component according to the first coordinate and the second coordinate at this time, and the first drive component drives the first workpiece and / or the second workpiece to move a corresponding distance in the corresponding direction; step S6, the controller starts the second drive component, and the second drive component causes the welding component to move a corresponding distance in the movement direction determined in step S5, and welds the first welding area and the second welding area.

[0063] Further, when the positioning component includes a camera unit, step S3 includes the following contents: step S31, binarizing the images of the first workpiece and the second workpiece captured by the camera unit; step S32, performing a square hole analysis on the image in step S31; step S33, calculating the pixel coordinates of the first endpoint, the first endpoint being the endpoint on the side of the first hole close to the second hole (the first hole and the second hole correspond to two metal wires respectively); step S34, calculating the pixel difference between the first endpoint and the center point of the image in step S3; step S4 includes the following contents: converting the pixel difference in step S6 into the first fixed component; and the movement distance of the second fixed component; step S36, calculating the pixel coordinates of the second endpoint, the second endpoint being the endpoint of the second hole close to the first hole; step S37, determining the x, y, z coordinates in space through the second endpoint; step S38, making the first workpiece and the second workpiece close to each other through the first driving unit and the second driving unit, that is, after the first hole is close to the x, y, z coordinates of the second hole; step S39, after the coordinates of the first endpoint and the second endpoint coincide, a single hole is formed in the image, and the alignment is completed; step S40, determining the moving direction and moving distance of the welding component through the x, y, z coordinates after the alignment is completed.

[0064] The first workpiece and the second workpiece are highlighted between step S2 and step S3, for example, by enhancing the light through a reflector to highlight the first workpiece and the second workpiece.

[0065] When the first workpiece and the second workpiece are both metal wires, the specific implementation steps are as follows: Step 1: Measure the size of the field of view of the first camera or the second camera. Taking this embodiment as an example, the field of view of the first camera or the second camera is 20cm*25cm. Step 2: Set the step ratio of the stepper motor in the first drive unit, the second drive unit and the second drive assembly. Taking this embodiment as an example, 1mm corresponds to 10,000 steps. Step 3: Use a reflector and light to highlight the first workpiece and the second workpiece. Specifically, the reflector is placed within the field of view of the first camera 10 and the second camera, and the light is irradiated on the first workpiece, the second workpiece and the reflector, so that the metal wire appears more prominent in the image captured by the first camera 10 and the second camera. Step 4: Binarize the image. Specifically, use image processing software to convert the image captured by the first camera and the second camera into a binary image, that is, divide the pixels in the image into black and white colors, black represents the metal wire, and white represents the background. Step 5: Perform square hole analysis on the image. Specifically, use image processing software to find circular holes in the binary image (circular holes represent a point, which may be the end of the wire, or a bright spot or other structure on the surface of the wire), and convert the circular holes into square holes (the wire is a filamentary structure with a rectangular cross-section, so the image of the wire is approximately rectangular after being magnified. In other words, the square hole represents the end of the wire) to capture the target image, that is, the image of the wire; wherein, the circular hole may be affected by light, shadow, etc., with an irregular shape and blurred boundaries. Compared with the circular hole, the square hole can more clearly represent the position of the wire, making the pixel coordinates of the wire easier to accurately identify. Step 6: Calculate the coordinates of the right endpoint of the left hole (pixel coordinates). Specifically, use image processing software (the image processing software can be written by the compilation tool Qt, i.e. Qt Creator) to find the right endpoint of the left hole in the square hole, and calculate the pixel coordinates of the point in the image.

[0066] Step 7: Calculate the pixel difference between the right end point of the left hole and the center point of the image. Specifically, use image processing software to calculate the pixel difference between the right end point of the left hole and the center point of the image. Step 8: Convert the pixel difference into the movement distance of the first workpiece and the second workpiece. Specifically, use image processing software to convert the pixel difference into the movement distance of the stepper motor, that is, the second drive component 4, that is, the movement distance of the stepper motor. Step 9: Calculate the coordinates of the first end point, such as the coordinates of the left end point of the right hole. Specifically, use image processing software to find the left end point of the first hole in the square hole, and calculate the pixel coordinates of the point in the image. Step 10: Determine the x, y, and z coordinates of one of the wires in space through the first end point. Specifically, use image processing software to convert the pixel coordinates of the left end point of the right hole of the coordinates of the second end point into the x, y, and z coordinates in space. Step 11: After the left hole approaches the x, y, and z coordinates of the right hole. Specifically, use the second drive unit to drive the second workpiece to move, so that the x, y, and z coordinates of the first hole, such as the left hole, gradually approach the x, y, and z coordinates of the second hole, such as the right hole. Step 12: After the coordinates of the first endpoint and the second endpoint coincide, a single hole is formed in the image (the fool-style image capture can only identify a single individual that is highlighted. When two individuals are connected together, they will be identified as one: after the two metal wires are aligned and fitted, the two metal wires are against each other, and there is an overlapping area. The fool-style image capture will identify the two metal wires against each other as one hole, that is, merge and identify), and the alignment is completed. Specifically, the second drive component is used to control the movement of the welding device so that the x, y, and z coordinates of the first hole, such as the hole on the left, completely coincide with the x yz coordinates of the second hole, such as the hole on the right. At this time, a single hole is formed in the image, indicating that the first welding area and the second welding area are aligned. Step 13: Calculate the lifting and moving distance of the heating welding head through the x, y, and z coordinates. Specifically, use image processing software to calculate the lifting and moving distance of the heating welding head so that the heating welding head can accurately contact the welding point of the metal wire. Step 14: The welding gun 7 lightly touches the fitting area of ​​the first welding area and the second welding area to complete the welding. Specifically, the welding operation is completed by welding the welding points of the workpieces such as the metal wire using the heating welding head and the flux assembly 9 in the welding device. The above steps are automatically performed under the control of the computer without manual intervention, thereby improving the efficiency and accuracy of welding.

[0067] The present invention controls the movement of the stepper motor, i.e., the second drive assembly 4, through the software of the computer, and then controls the movement of the welding assembly 6, and controls the automatic dripping of the soldering flux. This software control realizes precise welding operation and avoids the risk of easy disconnection of the welding point. In the present invention, the camera unit is connected to a controller such as a computer, and can automatically identify the position of the metal wire, and feed back to the computer, i.e., the controller, to control the movement of the stepper motor, i.e., the second drive assembly 4, until the first welding area and the second welding area are aligned and attached. This image processing can realize the precise alignment of the first workpiece and the second workpiece, and improve the accuracy of welding.

[0068] Through visual capture, automatic welding can basically achieve the success of welding. Automatic welding can ensure that the welding time is short enough and the solder content is small (if it is manual, the first workpiece, the second workpiece and the solder on the welding gun 7 will be in contact for a long time, which is easy to form a larger solder joint, and the process time of leaving is also long, which is easy to pull out a burr). Automatic welding greatly improves welding efficiency and product consistency.

[0069] In summary, the present invention has the following beneficial effects: 1. High degree of automation: The present invention adopts a combination of mechanical structure, hardware and software to realize the automation of welding of workpieces such as metal wires, greatly improves production efficiency, and reduces the error rate of manual operation. 2. High welding quality: The welding device of the present invention includes a stepper motor, a heating welding head, and a flux assembly 9, which can accurately control the position and size of the welding point, ensure the quality of the welding point, and avoid the welding quality problem caused by the welding point being too large or too small in the prior art. 3. Controllable welding process: The software end of the present invention can automatically identify the position of the metal wire through an image processing algorithm and control the movement of the stepper motor, so that the alignment of the metal wire is more accurate, avoiding the problem of misalignment of the metal wire caused by manual operation in the prior art. 4. Strong adaptability: The mechanical structure of the present invention can move in three dimensions and adapt to workpieces such as metal wires of different shapes and sizes, thereby improving the versatility and adaptability of the equipment. 5. Low cost: The welding method of the present invention does not require the use of glue, improves the consistency and yield of the product, shortens the welding time, reduces the welding cost, reduces the risk and cost brought by the glue, and also avoids the cost increase caused by the excessive welding point in the prior art. 6. High safety: The welding method of the present invention makes the metal wire more stable when fixed on the catheter, avoids the risk of falling off due to adhesion, and improves the safety of medical devices. 7. Simple operation: The software end of the present invention adopts an intuitive graphical interface, which is simple to operate and easy to use, reducing training costs. 8. High flexibility: The mechanical structure of the present invention can easily replace different metal wire fixing devices and welding devices to meet different types of metal wire welding requirements. 9. Good environmental protection: The welding method of the present invention does not require the use of any harmful substances, has good environmental protection, and is in line with the modern manufacturing industry's pursuit of green manufacturing.

[0070] Due to the advanced nature of the present invention, it can be widely used in the fields of medical device manufacturing, electronic product manufacturing, and automotive parts manufacturing. First, in the field of medical device manufacturing, the present invention provides a new type of welding device and welding method, which reduces the problem that the metal wire can only be fixed on the catheter by gluing, increases the process difficulty and the risk brought by glue, and requires more risk prevention and control inspection methods. At the same time, the present invention can also provide a smaller diameter welding spot, which is conducive to maintaining the smoothness of the catheter surface and improving the aesthetics and use experience of the medical device. Secondly, in the field of electronic product manufacturing and automotive parts manufacturing, the present invention can solve the problem that the welding spot of the metal wire is too large in the prior art, which is not conducive to perforation, and the deviation of the welding direction will cause the welding point to be easily disconnected. At the same time, the present invention can also provide more accurate welding position control, improve the accuracy and reliability of electronic products. In addition, the present invention can also provide faster welding speed and higher welding quality, and improve the production efficiency and quality of precision parts. In general, the present invention has broad application prospects and market demand in technical fields such as metal material processing, welding technology, and automation equipment manufacturing, and is expected to promote technological progress and industrial development in related fields.

[0071] The present invention discloses multiple technical solutions, but does not provide any contrary technical inspiration.

[0072] In this article, "and / or" means that the text content preceding "and / or" and the text content following "and / or" can exist at the same time or separately. For example, "A and / or B" includes the situation where only "A" or "B" exists, and the situation where both "A" and "B" exist at the same time.

[0073] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0074] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0075] In the present disclosure, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0076] In the present disclosure, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being “above”, “above”, and “above” a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0077] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0078] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0079] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A welding device, characterized in that: The welding device comprises: a first fixing assembly and a second fixing assembly, wherein the first fixing assembly is used to fix the first workpiece, and the second fixing assembly is used to fix the second workpiece; a first driving assembly, the first driving assembly being in driving connection with the first fixing assembly and / or the second fixing assembly, the first driving assembly being capable of driving the first workpiece and / or the second workpiece to move; when the first workpiece and the second workpiece are in a welding state, a first welding area of ​​the first workpiece and a second welding area of ​​the second workpiece are in contact with each other; A welding assembly, the welding assembly is arranged toward the bonding area of ​​the first welding area and the second welding area; the welding assembly is used to weld the first welding area and the second welding area together; a second driving assembly, the second driving assembly being in driving connection with the welding assembly, and the second driving assembly being used to drive the welding assembly to move toward and away from a bonding area between the first welding area and the second welding area; A positioning component is used to detect the positions of the first workpiece and the second workpiece.

2. The welding device according to claim 1, characterized in that: The welding device further comprises a controller, and the positioning assembly, the welding assembly, the first driving assembly, and the second driving assembly are all connected to the controller by signal; When the welding device is in working state, the controller starts the first driving component, and the controller adjusts the first driving component according to feedback from the positioning component, and the first driving component drives the first workpiece and / or the second workpiece to move. When the controller determines that the first welding area and the second welding area are in contact with each other according to feedback from the positioning component, the controller starts the second driving component, and the second driving component drives the welding component to move toward the direction close to the contact area to weld the first welding area and the second welding area.

3. The welding device according to claim 1, characterized in that: The welding point of the first workpiece and the second workpiece is located between the first welding area and the second welding area.

4. The welding device according to claim 1, characterized in that: The welding assembly comprises a welding gun, a receiving trough arranged below the welding gun and used for receiving welding slag, and a flux assembly arranged toward the welding gun.

5. The welding device according to claim 1, characterized in that: The first driving assembly includes a first driving unit that is transmission-connected to the first fixing assembly and can drive the first fixing assembly to move, and / or the first driving assembly includes a second driving unit that is transmission-connected to the second fixing assembly and can drive the second fixing assembly to move.

6. The welding device according to claim 1, characterized in that: The positioning assembly includes a camera unit, which includes a plurality of first cameras surrounding the first workpiece and arranged toward the first workpiece, and a plurality of second cameras surrounding the second workpiece and arranged toward the second workpiece.

7. The welding device according to claim 1, characterized in that: The positioning component includes a plurality of position sensors arranged on the first fixing component and / or the second fixing component.

8. A welding method using the welding device according to claim 1, characterized in that: The following steps are involved: Step S1, determining the detection range of the positioning component; Step S2, setting the step ratio of the first driving component and the second driving component; Step S3, processing the position signals of the first workpiece and the second workpiece collected by the positioning component to obtain a first coordinate of the first workpiece and a second coordinate of the second workpiece; Step S4, determining the movement direction and movement distance of the first workpiece and the second workpiece according to the first coordinate and the second coordinate, and driving the first workpiece and / or the second workpiece to move in the corresponding direction and the corresponding distance by the first driving component; Step S5, after determining that the first welding area and the second welding area are in contact with each other according to the first coordinate and the second coordinate, determining the moving direction and moving distance of the welding assembly according to the first coordinate and the second coordinate at this time; Step S6: the controller starts the second driving assembly, and the second driving assembly moves the welding assembly to a corresponding distance in the moving direction determined in the step S5, so as to weld the first welding area and the second welding area.

9. The welding method according to claim 8, characterized in that: When the positioning component includes a camera unit, step S1 includes: measuring the field of view of the first camera; Step S3 includes the following contents: Step S31, binarizing the images of the first workpiece and the second workpiece captured by the camera unit; Step S32, performing square hole analysis on the image in step S31; Step S33, calculating the pixel coordinates of the first endpoint, where the first endpoint is the endpoint of the first hole on a side close to the second hole; Step S34, calculating the pixel difference between the first endpoint and the center point of the image in step S3; Step S4, comprising the following contents: converting the pixel difference in step S6 into a movement distance between the first workpiece and the second workpiece; Step S36, calculating the pixel coordinates of the second endpoint, where the second endpoint is the endpoint of the second hole on a side close to the first hole; Step S37, determining the x, y, and z coordinates in space through the second endpoint; Step S38, using the second driving unit to make the second hole close to the first hole; Step S39, after the coordinates of the first endpoint and the second endpoint coincide with each other, a single hole is formed in the image, and the alignment is completed; Step S40, determining the moving direction and moving distance of the welding assembly through x, y, and z coordinates.

10. The welding method according to claim 9, characterized in that: The first workpiece and the second workpiece are highlighted between step S2 and step S3.

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