Welding track detection and control method of container corrugated plate based on laser ranging

Abstract

The invention relates to a welding track detection and control method of a container corrugated plate based on laser ranging, including the following steps: A. track detection is carried out; B. track identification is 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 is obtained by a laser displacement sensor, and track fitting is carried out after effective wave filtering treatment to realize track detection; simultaneously, the problem of track detection and control in automatic welding of the container corrugated plate is fundamentally solved by combining track interpolation algorithm of a minimum deviation method. The invention further explains the smooth conversion of welding parameters of inflection points in detail, and proposes an adjustable inflection point parameter conversion method in smooth degree. In the filed test welding by using the method in the invention, the track tracking effect reaches intended goal, thereby improving the welding quality and welding efficiency of the container corrugated plate, and improving the labor environment.

Description

technical field [0001] The invention relates to a detection and control method, in particular to a detection and control method for the welding trajectory of container corrugated plates 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 com...

AI Technical Summary

Problems solved by technology

The contact sensor converts the change of the welding seam into the position change of the guide rod or guide wheel, and converts it into an electrical signal. Due to its stable performance and low cost, this sensor has been widely used in production, but due to the limitation of tracking accuracy and speed, It is no longer suitable for the high-precision and high-speed welding field; the arc sensor uses the parameters of the arc itself as the tracking target, and can respond to changes in the weld seam in real time, but the detection accuracy is easily affected by the droplet transfer form and spatter during the welding process, especially in the welding process. In the welding of butt joints and lap joints of thin plate weldments, the application method is difficult to master

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