Visual tracking monitoring system and method in automatic corrugated thin plate fillet weld welding

Abstract

The invention discloses a visual tracking monitoring system and method in automatic corrugated thin plate fillet weld welding. The visual tracking monitoring system and method in the automatic corrugated thin plate fillet weld welding comprises a welding gun, a system installing frame, a welding technological parameter adjuster, a vision device I, a vision device II, an image data processor, a welding gun drive device, a tracking drive device and a controller. The vision device I and the vision device II are respectively connected with the image data processor; the image data processor is respectively connected with the controller and the welding technological parameter adjuster; the controller is respectively connected with the welding gun drive device and the tracking drive device. According to the visual tracking monitoring system and method in the automatic corrugated thin plate fillet weld welding, binocular vision devices are adopted, the front vision device II is used for leading the movement of the welding gun, the direct-sight vision device I monitors a weld pool and welding joints before the weld pool and conducts adjustment on welding gun track deviation caused by factors such as thermal welding deformation and welding wire bending.

Description

technical field [0001] The invention relates to welding of side wall corrugated plates, in particular to a visual tracking and monitoring system and method for automatic welding of corrugated sheet fillet welds. Background technique [0002] In actual welding production, due to irregular errors in blanking processing and assembly of workpieces to be welded, problems such as thermal deformation of workpieces, welding wire bending, welding arc blowing, and welding mechanism movement deviations may occur during the welding process, which may lead to The width of the seam to be welded is different and causes the welding torch to deviate from the center of the seam to be welded. Therefore, the ideal automatic welding process should automatically track and monitor the trajectory of the seam to be welded and the width of the seam. Based on this, the trajectory of the welding torch and the welding process parameters can be dynamically and timely adjusted. [0003] At home and abroad...

AI Technical Summary

Problems solved by technology

The problem with this method is that the dynamic light intensity of the arc light in this area is extremely strong, and it is difficult for general industrial cameras to directly image this area. In addition, because the field of view is limited to the welding area, the trajectory of the welding seam cannot be predicted, so the path of the welding torch cannot be planned

[0005] The monitoring and tracking of corrugated plate fillet welds, especially container side plate fillet welds, has always been a difficult problem for enterprises to apply automatic welding equipment. The workpiece to be welded is thin (1.6mm), the weld seam is long (tens of meters), and the assembly gap changes greatly (0 ~6mm), fast welding speed (1.5m / min), diffuse shielding gas, tortuous weld seam, thermal deformation during the welding process leads to uncertain offset of the assembly gap, strong arc, spattered welding slag and other interferences during the welding process , especially the use of visual sensors requires a large working distance and the space after the fillet weld assembly is narrow. These complex environments make it difficult to track and monitor fillet welds, especially corrugated plate curve fillet welds.

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