Method for debugging pipe plate welding gun with camera

Abstract

The invention relates to a method for debugging a pipe plate welding gun with a camera, which is characterized by comprising the following steps of: acquiring a whole video image through a camera element and displaying the whole video image together with a rectangular reference frame arranged on display equipment; then rotating the gun head of the pipe plate welding gun to respectively position in the upper direction, the lower direction, the left direction and the right direction to obtain feature points or feature lines on the gun head of the welding gun; moreover, sequentially moving an upper reference side line, a lower reference side line, a left reference side line and a right reference side line of the rectangular reference frame, which correspond to the facing direction of the gunhead of the welding gun so that the rectangular reference frame is coincided with the feature points or the feature lines on the gun head of the welding gun; and then extracting the image of the welded pipe port by using the camera and processing the extracted image through image processing software to acquire the center of the welded pipe port. No matter whether the physical center of the cameraand the shell center of the camera are consistent or not, the pipe plate welding gun can be debugged through the mode of man-machine interaction to obtain the most correct rotating center of the pipeplate welding gun, the welding position and the opening position of the gun head of the welding gun and ensure the welding precision.

Description

technical field [0001] The invention relates to a welding torch debugging method, in particular to a tube plate welding torch debugging method with a camera, and belongs to the field of welding technology. Background technique [0002] Tube-sheet heat exchangers are widely used in boiler, chemical, pharmaceutical, power generation and other industries, and the important process of producing tube-sheet heat exchangers is to weld the tube sheets according to requirements. In addition to the traditional manual welding method, the existing tube-sheet welding machines need to be centered, that is, the center of rotation of the tube-sheet welding torch is positioned to coincide with the center of the workpiece to be welded, and the welding is completed by rotating the welding torch around the tube opening . Furthermore, the existing automatic tube sheet positioning methods are all realized by the central rod or the central rod expanding core mechanism. The usual way is the latte...

AI Technical Summary

Problems solved by technology

[0003] Yet this expanding core body mechanism has the following defects: 1. The expansion of the expansion head of this expanding core body mechanism is achieved by the expansion of the expansion tube, and the diameter reduction range of the expansion tube is extremely limited, and one expansion tube is only suitable for one Welded pipes with different pipe diameters and the same wall thickness cannot be used universally when the pipes to be welded have different diameters or wall thicknesses

2. The minimum positioning pipe diameter of the existing expansion core mechanism is generally too large, which makes it difficult for the automatic tube-sheet welding machine to weld the tube-sheet welding machine with a smaller diameter

3. When the connection form of the welded pipe and the plate is pipe indentation, that is, the welding seam of the welded pipe and the plate is in the plate hole, because the expanding core mechanism cannot enter, so the existing automatic tube welding machine with expanding core mechanism Difficult to perform welding

There will be certain errors in the manufacturing process of the welding torch and the camera. For example, the physical center of the imaging element of the camera with a circular shell is not necessarily in the center of the circular shell. Therefore, if there is no good debugging method through the auxiliary positioning of the camera , there will be considerable error

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