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Welding track detection and control method of plate butt weld based on laser ranging

A technology of flat-plate docking and laser ranging, applied in welding equipment, digital control, electrical program control, etc., can solve problems such as high price, reduce work intensity, improve welding quality, and improve labor environment.

Inactive Publication Date: 2009-10-21
SHANDONG UNIV
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Problems solved by technology

Plane butt weld welding is a common and representative welding form. In the field of welding industry, there is a considerable application demand space, but it is currently used for the collection of information on V-groove and multi-layer multi-pass welds. Tracking control system, which is expensive and mostly image acquisition

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  • Welding track detection and control method of plate butt weld based on laser ranging
  • Welding track detection and control method of plate butt weld based on laser ranging
  • Welding track detection and control method of plate butt weld based on laser ranging

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Embodiment Construction

[0028] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0029] A method for detecting and controlling welding trajectory of flat butt weld seam based on laser ranging, comprising the following steps:

[0030] A. Carry out trajectory detection; after the system is initialized, the transverse scanning axis of the weld seam is started, and the cross-sectional profile of the flat butt weld is detected in real time through the laser precision displacement sensor, and is continuously fed along the direction of the weld seam; the detected weld seam contour information The data is transmitted to the industrial computer, and the collected data is filtered and stored;

[0031] B. Carry out trajectory recognition; process the digital signal through the industrial computer, extract the information of the weld outline, and at the same time carry out the three-dimensional reconstruction of the weld, and obtain the paramet...

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Abstract

The invention relates to a welding track detection and control method of plate butt weld based on laser ranging, including the following steps: A. track detection is carried out; B. track identification and extraction are carried out; C. track control is carried out; D. the relative position relation between a welding gun and a welding seam is adjusted at last by performing mechanism actions. In the invention, the information of welding seam profile is obtained by transverse scanning of a laser sensor, and welding seam is rebuilt after effective wave filtering treatment to realize three-dimensional detection of the welding seam; simultaneously, the welding track curve is obtained by fit while detecting welding seam by using dynamic B spline fit algorithm, and the track control is carried out in combination with constant speed B spline track interpolation algorithm, thereby fundamentally solving the problem of track detection and control in automatic welding of plate butt weld. By using the method in the invention, the field test welding has welding profile identification precision of 0.15mm and welding track identification precision of 0.2mm, and the welding speed is more than four times of common manual welding.

Description

technical field [0001] The invention relates to a detection and control method, in particular to a detection and control method of a flat plate butt weld welding track based on laser ranging. Background technique [0002] At present, the research on welding trajectory control technology is one of the key points and difficulties in the research of welding industry technology. The research frontiers at home and abroad mainly focus on the following aspects: 1. Welding trajectory information sensing technology; 2. Trajectory tracking control theory and algorithm. In the automatic welding process, accurate detection of changes in the weld seam is the key to ensuring welding quality, and sensor technology for seam tracking is becoming more and more important. In the research and development of welding trajectory detection technology, various types of sensors have appeared one after another, among which contact sensors, arc sensors and optical sensors are more commonly used. The c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/127G05B19/19
Inventor 田新诚刘涛张光先
Owner SHANDONG UNIV
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