Image centralizing location method for automatic tube plate welding

Abstract

An image centralizing location method for automatic tube plate welding is characterized in that a camera is used for picking up the image of the mouth of a tube to be welded; the image is then processed and recognized by a computer system to automatically find the center position of the tube to be welded; and finally, the rotary axial line of a welding torch is translated to the center position of mouth of the tube to be welded by an X-axis moving mechanism and a Y-axis moving mechanism to achieve the location. The method can achieve location of the tube plate by using the image centralizing location method without the need of a core rod and an expansion core, so that the method is a contactless accurate location method, which solves the difficult location problem always puzzling the people for a long time. The method has the following characteristics: (1) the method obviates the position error of the tube mouth caused by machine tooling and welding heat and has high location accuracy; (2) the method can achieve the welding of tube plates with the retracted tubes; and (3) the method can achieve the welding of tube plates with a small diameter (phi3 mm), thereby greatly widening the application range of tube plate welding.

Description

technical field

[0001] The invention belongs to the field of welding technology, in particular to an image centering and positioning method suitable for automatic welding of pipes and plates. Background technique

[0002] In the manufacture of heat exchangers in chemical industry, power station, boiler and other industries, there are a large number of welding tasks between tubes and plates. This kind of welding is difficult, requires high quality, and requires a lot of work. The development of such welding techniques has long been a matter of concern to those skilled in the art.

[0003] In the 1980s, automatic tube-sheet welding machines entered the Chinese market from abroad, and were gradually popularized and applied in industries such as chemical industry, boilers, and power stations. This welding method greatly reduces the labor intensity of manual welding, improves the stability of welding quality, and triggers a revolution in tube-sheet welding technology.

[0004] ...

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