Auxiliary device for identifying fillet weld

Abstract

The utility model provides a fillet weld identification auxiliary device. The fillet weld identification auxiliary device comprises two positioning components which are respectively arranged on two fillet weld welding surfaces of a structure to be welded, each positioning assembly comprises a fillet weld starting point marking piece, a fillet weld terminal point marking piece and an auxiliary point marking piece which are arranged in a non-collinear manner; according to the device, the initial starting point and the initial ending point of the fillet weld are marked through the two positioning assemblies, a small collection range is provided for subsequent point cloud data collection with the initial starting point and the initial ending point as the center, and point cloud collection equipment does not need to collect overall point cloud data of a to-be-welded structure; besides, the three marking pieces in the positioning assembly are not collinear, the plane where the fillet weld welding face is located can be determined, the processing amount of the point cloud data of the fillet weld welding face is reduced, and therefore the overall data volume of the point cloud data during fillet weld recognition is greatly reduced, the data processing calculation amount in the subsequent analysis process is further reduced, and the accuracy of fillet weld recognition is improved. The identification speed is improved, installation is simple and convenient, and practical engineering operation is facilitated.

Description

Technical Field

[0001] This utility model belongs to the field of fillet weld identification technology, and specifically relates to an auxiliary device for fillet weld identification. Background Technology

[0002] High-rise steel structures, transmission towers, and other steel structures contain many complex steel structural nodes. These nodes are composed of numerous welded gusset plates, exhibiting highly complex geometric features. Due to the short and numerous weld seams at these nodes, welding is typically performed by hand using a welding torch.

[0003] With the development of information technology, industrial robot arms are increasingly used in welding in equipment such as automobiles and ships. This equipment requires accurate weld path information to function properly. For fillet welds on complex steel structure nodes, the welding path information includes the three-dimensional coordinates of both ends of the weld and the spatial posture of the welding torch during the welding process.

[0004] Currently, the main methods for determining weld paths for industrial robot arms are:

[0005] 1) Manual Teaching Method. This method requires a worker to manually guide the industrial robot to the critical points of the weld. Compared to manual welding by a welder, this method offers no cost advantage. In fact, if the worker's welding skills are qualified, this method may actually be more expensive than manual welding.

[0006] 2) Utilizing key points of the 3D geometric model of the welded workpiece to provide guidance information. This method requires retrieving key information from the 3D model to obtain key information about the weld. However, the main drawbacks of this method are: ① Many rough or complex workpieces often lack corresponding 3D models; ② The difference between the geometric dimensions of the 3D model and the actual workpiece is significant, often deviating by about 5mm, resulting in a welding path generated by this method with too large an error to be usable; ③ This method requires accurate spatial transformation to obtain the actual welding path based on the relationship between the installation position of the nodes and the virtual position used in the welding path simulation.

[0007] 3) Image Information Method. This method first acquires point cloud or image information of the welded workpiece surface, and then uses machine vision algorithms to analyze the geometric features of the point cloud to determine the weld path. Currently, machine vision positioning methods can be divided into two categories: ① using visible light photography to form a planar image to determine the weld position. The advantage of this method is its fast processing speed, but its main disadvantage is a large Z-axis ranging error, which often results in weld paths that do not meet requirements; ② acquiring three-dimensional laser point cloud information of the welded workpiece surface, and then using artificial intelligence and other methods to identify the weld. Because the accuracy of the weld path cannot be less than 1mm, and the length of the weld is generally greater than 200mm, the resolution of the point cloud must be at least within 0.1mm. This results in too many data points in the point cloud and too long a calculation time, often exceeding 30 minutes, making it unsuitable for practical engineering needs. Therefore, there is an urgent need for an auxiliary device to reduce the data processing workload when identifying fillet welds. Utility Model Content

[0008] To overcome the shortcomings of the prior art, this utility model proposes a fillet weld identification auxiliary device, including two positioning components respectively disposed on the welding surfaces of the two fillet welds of the structure to be welded;

[0009] Each of the positioning components includes non-collinear fillet weld start markers, fillet weld end markers, and auxiliary point markers.

[0010] Preferably, the line connecting the two fillet weld start markers to the start of the fillet weld is perpendicular to the fillet weld, and the line connecting the two fillet weld end markers to the end of the fillet weld is perpendicular to the fillet weld.

[0011] Preferably, the fillet weld start mark, the fillet weld end mark, and the auxiliary point mark all include:

[0012] Hemispherical magnet.

[0013] Preferably, the diameter of the hemispherical magnet is in the range of 10mm to 20mm.

[0014] Preferably, the size difference between the fillet weld start marker, the fillet weld end marker, and the auxiliary point marker in one of the positioning components is greater than a set size threshold.

[0015] Preferably, the difference in grayscale between the two positioning components is greater than a set grayscale threshold.

[0016] Preferably, the hemispherical magnet is a hemispherical electromagnet.

[0017] Preferably, the hemispherical electromagnet includes a hemispherical shell, a U-shaped iron core disposed within the hemispherical shell, and a coil wound on the U-shaped iron core; the coil is wound in opposite directions on the two straight arms of the U-shaped iron core, and the two ends of the U-shaped iron core are in contact with the circular bottom surface of the hemispherical shell.

[0018] Preferably, a thermally conductive silicone layer is provided on the outside of the coil.

[0019] Preferably, the hemispherical shell has heat dissipation holes.

[0020] Compared with the closest existing technology, the present invention has the following beneficial effects:

[0021] This invention provides an auxiliary device for fillet weld identification, comprising two positioning components respectively disposed on the two fillet weld surfaces of the structure to be welded; each positioning component includes a fillet weld start point marker, a fillet weld end point marker, and an auxiliary point marker arranged non-collinearly; the device marks the initial start and end points of the fillet weld by setting two positioning components on the two fillet weld surfaces respectively, and provides a smaller data acquisition range for subsequent point cloud data acquisition with the initial start and end points as the center, so that the point cloud acquisition device does not need to acquire the point cloud data of the entire structure to be welded; in addition, the non-collinearity of the three markers in the positioning components can also determine the planar coordinates of the fillet weld surface, reducing the amount of point cloud data processing on the fillet weld surface, thereby greatly reducing the overall data volume of the point cloud data when identifying the fillet weld, further reducing the amount of data processing and computation in the subsequent analysis process, which is conducive to improving the identification speed, simple and convenient to install, and beneficial to practical engineering operation. Attached Figure Description

[0022] Figure 1 A schematic diagram of the structure of a fillet weld identification auxiliary device provided by this utility model;

[0023] Figure 2 A schematic diagram of the hemispherical electromagnet provided by this utility model;

[0024] Among them, 1. Structure to be welded; 2. Fillet weld start mark; 3. Fillet weld end mark; 4. Auxiliary point mark; 5. Hemispherical shell; 6. U-shaped iron core; 7. Coil; 8. Thermally conductive silicone layer; 9. Switch. Detailed Implementation

[0025] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0026] Example 1:

[0027] This utility model provides an auxiliary device for identifying fillet welds, such as... Figure 1As shown, it includes two positioning components respectively located on the welding surfaces of the two fillet welds of the structure to be welded 1;

[0028] Each of the positioning components includes a fillet weld start marker 2, a fillet weld end marker 3, and an auxiliary point marker 4, which are not collinearly arranged.

[0029] For complex, rough-formed steel structures such as bridges and high-rise steel structures, these workpieces have complex geometries, low machining accuracy, and often lack detailed 3D models suitable for robotic welding. This makes it difficult to determine the precise welding path at low cost, posing significant challenges to automated robotic welding. This invention addresses this by setting two positioning components on the welding surfaces of two fillet welds, marking the initial start and end points of the fillet welds. Using these initial start and end points as centers, a smaller data acquisition range is provided for subsequent point cloud data collection, eliminating the need for the point cloud acquisition device to collect the point cloud data of the entire structure to be welded. Furthermore, the non-collinearity of the three markers in the positioning components determines the plane of the fillet weld welding surface, reducing the amount of point cloud data processing required for the weld surface. This significantly reduces the overall data volume of the point cloud data during fillet weld identification, further reducing the computational load in subsequent analysis, improving identification speed, and offering simple and convenient installation, thus benefiting practical engineering operations.

[0030] It should be noted that the purpose of non-collinear layout is to enable the three markers, namely fillet weld start marker 2, fillet weld end marker 3, and auxiliary point marker 4, to determine a fillet weld welding surface. Subsequently, the plane equation of the fillet weld welding surface where these three markers are located can be determined based on the coordinates of these three markers.

[0031] In this embodiment, in order to improve the positioning accuracy of the initial coordinates of the start and end points of the fillet weld, during the actual installation of the positioning component, the line connecting the two fillet weld start markers 2 to the start of the fillet weld is perpendicular to the fillet weld, and the line connecting the two fillet weld end markers 3 to the end of the fillet weld is perpendicular to the fillet weld.

[0032] Specifically, such as Figure 1 As shown, the line connecting the center of the ball of the two fillet weld start markers 2 to the start of the fillet weld is perpendicular to the fillet weld, and the line connecting the center of the ball of the two fillet weld end markers 3 to the end of the fillet weld is perpendicular to the fillet weld.

[0033] In this embodiment, the fillet weld start point marker 2, the fillet weld end point marker 3, and the auxiliary point marker 4 all include:

[0034] Hemispherical magnet.

[0035] It should be noted that, considering the ease of disassembly of the positioning components and the recognition accuracy of the surface laser sensor for the positioning components, in this embodiment, the fillet weld start mark 2, the fillet weld end mark 3, and the auxiliary point mark 4 all adopt hemispherical magnets. The flat part of the hemispherical magnet can fit smoothly and closely with the welding surface of the fillet weld, and the regular shape of the hemispherical structure enables the surface laser sensor to better identify the center of the hemispherical magnet, thereby improving the recognition accuracy.

[0036] In another possible implementation, the fillet weld start marker 2, fillet weld end marker 3, and auxiliary point marker 4 can also be made of other regularly shaped magnets with a clear center, such as cube magnets or regular triangular prism magnets.

[0037] In this embodiment, the diameter of the hemispherical magnet ranges from 10mm to 20mm.

[0038] In this embodiment, the size difference between the fillet weld start marker 2, the fillet weld end marker 3, and the auxiliary point marker 4 in one of the positioning components is greater than a set size threshold.

[0039] In this embodiment, the difference in grayscale between the two positioning components is greater than a set grayscale threshold.

[0040] It should be noted that the point cloud information collected by the point cloud acquisition device for the two positioning components consists of the point cloud information of six markers in space. In order to accurately distinguish each marker during subsequent data analysis, in this embodiment, different attribute features are set for the markers in the two positioning components, including size differences and color grayscale differences. This enables the point cloud acquisition device to clearly distinguish which marker each point cloud information belongs to, which is beneficial for the accurate use of the spatial coordinates of each marker in the future.

[0041] Specifically, the two positioning components of this utility model involve a total of six hemispherical magnets. These six hemispherical magnets are divided into two groups of three, each group consisting of black and white magnets. Within each color group, i.e., within each positioning component, the diameters of the three hemispherical magnets are different. Generally, the larger the diameter of the hemispherical magnet, the more accurate the point cloud recognition, but the greater the weight and the larger the area of ​​the steel plate required. The diameter of the hemispherical magnet is generally around 15mm, and the diameters of the three hemispherical magnets in one positioning component differ by 5mm, arranged in an arithmetic sequence. Permanent magnets can be used for the hemispherical magnets. However, after positioning, permanent magnets require considerable force to pry them off the steel plate; also, during storage, permanent magnets tend to stick together due to mutual attraction, making storage difficult. Therefore, in this embodiment, electromagnets are preferably used for the hemispherical magnets.

[0042] In this embodiment, the hemispherical magnet is a hemispherical electromagnet.

[0043] In this embodiment, as Figure 2 As shown, the hemispherical electromagnet includes a hemispherical shell 5, a U-shaped iron core 6 disposed inside the hemispherical shell 5, and a coil 7 wound on the U-shaped iron core 6; the coil 7 is wound in opposite directions on the two straight arms of the U-shaped iron core 6, and the two ends of the U-shaped iron core 6 are in contact with the circular bottom surface of the hemispherical shell 5.

[0044] In this embodiment, a thermally conductive silicone layer 8 is provided on the outside of the coil 7.

[0045] It should be noted that coil 7 is connected to an external power source via a wire. The wire is made of wire with a diameter of less than 0.5 mm to reduce the impact of the point cloud acquisition device on the data acquisition of the hemispherical electromagnet.

[0046] In this embodiment, a switch 9 is provided outside the hemispherical shell 5. The switch 9 is connected in series with the wire and is used as a switch for the hemispherical electromagnet.

[0047] In this embodiment, a buckle for mounting the U-shaped iron core 6 is provided on the inner wall of the hemispherical shell 5, so that the hemispherical shell 5 and the U-shaped iron core 6 can be detachably connected. The wire passes through the hemispherical shell 5 and is electrically connected to the coil 7 through the plug-in component. When the U-shaped iron core 6 needs to be disassembled and replaced, the connection between the coil 7 and the wire is disconnected first, and then the U-shaped iron core 6 is removed.

[0048] In this embodiment, the hemispherical shell 5 is provided with heat dissipation holes (not shown in the figure).

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit its protection scope. Although the utility model has been described in detail with reference to the above embodiments, those skilled in the art should understand that after reading this utility model, they can still make various changes, modifications or equivalent substitutions to the specific implementation methods of the application. However, these changes, modifications or equivalent substitutions are all within the protection scope of the claims of this utility model.

Claims

1. A fillet weld identification auxiliary device, characterized in that, include: Two positioning components are respectively set on the welding surfaces of the two fillet welds of the structure to be welded (1); Each of the positioning components includes a fillet weld start marker (2), a fillet weld end marker (3), and an auxiliary point marker (4) that are not collinearly arranged.

2. The fillet weld identification auxiliary device as described in claim 1, characterized in that, The line connecting the two fillet weld start markers (2) to the start of the fillet weld is perpendicular to the fillet weld, and the line connecting the two fillet weld end markers (3) to the end of the fillet weld is perpendicular to the fillet weld.

3. A fillet weld identification auxiliary device as described in claim 1 or 2, characterized in that, The fillet weld start marker (2), the fillet weld end marker (3), and the auxiliary point marker (4) all include: Hemispherical magnet.

4. The fillet weld identification auxiliary device as described in claim 3, characterized in that, The diameter of the hemispherical magnet ranges from 10mm to 20mm.

5. The fillet weld identification auxiliary device as described in claim 4, characterized in that, The size difference between the fillet weld start marker (2), the fillet weld end marker (3), and the auxiliary point marker (4) in one of the positioning components is greater than a set size threshold.

6. The fillet weld identification auxiliary device as described in claim 3, characterized in that, The difference in grayscale between the two positioning components is greater than a set grayscale threshold.

7. The fillet weld identification auxiliary device as described in claim 3, characterized in that, The hemispherical magnet is a hemispherical electromagnet.

8. The fillet weld identification auxiliary device as described in claim 7, characterized in that, The hemispherical electromagnet includes a hemispherical shell (5), a U-shaped iron core (6) disposed inside the hemispherical shell (5), and a coil (7) wound on the U-shaped iron core (6); the coil (7) is wound in opposite directions on the two straight arms of the U-shaped iron core (6), and the two ends of the U-shaped iron core (6) are in contact with the circular bottom surface of the hemispherical shell (5).

9. The fillet weld identification auxiliary device as described in claim 8, characterized in that, A thermally conductive silicone layer (8) is provided on the outside of the coil (7).

10. The fillet weld identification auxiliary device as described in claim 8, characterized in that, The hemispherical shell (5) has heat dissipation holes.

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