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Longitudinal seam welding special machine with linear structure light type vision sensor and control method thereof

A visual sensor and line structured light technology, applied in welding equipment, manufacturing tools, arc welding equipment, etc., can solve the problems of difficult welding seam tracking control, inability to obtain welding seam information, etc., and achieve the effect of improving the degree of automation

Inactive Publication Date: 2011-05-18
SOUTHEAST UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At the same time, due to the front installation of the sensor, the corresponding weld information cannot be obtained by the sensor in the last section of the weld, making it difficult to track and control the weld

Method used

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  • Longitudinal seam welding special machine with linear structure light type vision sensor and control method thereof
  • Longitudinal seam welding special machine with linear structure light type vision sensor and control method thereof
  • Longitudinal seam welding special machine with linear structure light type vision sensor and control method thereof

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Embodiment Construction

[0033] The present invention will be further described below in conjunction with the accompanying drawings.

[0034] figure 1 Shown is a special machine for longitudinal seam welding with a line structured light vision sensor, including a welding torch, a line structured light vision sensor, an industrial control computer and an actuator. The welding torch is fixed on the actuator, and the welding torch and the line structured light The vision sensor is connected to the running track of the longitudinal seam welding machine, and the line structured light vision sensor is placed in front of the welding torch; the output end of the line structured light vision sensor is connected to the input end of the industrial control computer, and the output end of the industrial control computer End connection execution structure. The actuators are a group of actuators perpendicular to each other, which can simultaneously correct the height and horizontal direction of the welding torch. ...

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Abstract

The invention discloses a longitudinal seam welding special machine with a linear structure light type vision sensor and a control method thereof. The longitudinal suture welding special machine comprises a welding gun, the linear structure light type vision sensor, an industrial control computer and an execution mechanism, wherein the welding gun is fixed on the execution mechanism; the welding gun and the linear structure light type vision sensor are connected to an operation rail of the longitudinal seam welding special machine, and the linear structure light type vision sensor is arranged in front of the welding gun; and the output end of the linear structure light type vision sensor is connected with the execution structure through the industrial control computer. With the control method, the concept of a coordinate system is established, and a welding seam track is detected through the vision sensor to essentially change an application way of corresponding the welding gun to an image reference point through a rigid body relation, and the method can also be used for tracking the space curve welding seam without limitation of tracking the linear welding track. The longitudinal seam welding special machine detects the whole welding seam track, even if the sensor is out of the visual field, the last section of the welding seam can also ensure the tracking of the whole welding seam.

Description

technical field [0001] The invention relates to industrial welding equipment, in particular to a special machine for longitudinal seam welding with a line structured light vision sensor and a control method thereof. Background technique [0002] With the wide application of automatic welding in the field of welding, in order to ensure the quality of welding, the automatic tracking technology of weld seam has become a key research direction. In recent years, welding seam visual tracking using computer vision, digital image processing, pattern recognition, intelligent control and other high-tech technologies has received widespread attention. Among them, the linear structured light sensor has been widely used because of its simple structure, non-contact method, large amount of information obtained and high precision. How to apply the line structured light vision sensor to the industrial welding equipment longitudinal seam welding machine has become a key issue. [0003] The ...

Claims

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Application Information

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IPC IPC(8): B23K9/127
Inventor 李新德张捷张弢戴先中
Owner SOUTHEAST UNIV
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