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Automatic tracking control and online correction system with welding gun and control method thereof

An automatic tracking and control system technology, applied in manufacturing tools, welding equipment, arc welding equipment, etc., can solve problems such as weld deviation and weld tracking failure, and achieve strong practicability, excellent tracking effect, and high-precision welds The effect of biased information extraction

Active Publication Date: 2015-05-06
WUHU ANPU ROBOT IND TECH RES INST
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Problems solved by technology

However, various uncertain factors in the welding process have an impact on the weld seam, which will lead to deviation of the weld seam. This deviation relies on a single sensor to extract deviation information, resulting in a high possibility of weld seam tracking failure.

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  • Automatic tracking control and online correction system with welding gun and control method thereof
  • Automatic tracking control and online correction system with welding gun and control method thereof

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Embodiment Construction

[0022] In the following, referring to the accompanying drawings, through the description of the embodiments, the specific implementation of the present invention, such as the involved control system, the mutual connection relationship and the implementation method, will be further described in detail, so as to help those skilled in the art to understand the present invention A more complete, accurate and in-depth understanding of invention concepts and technical solutions.

[0023] Such as Figure 1 to Figure 2 As shown, a welding torch automatic tracking control and online correction system and its control method, including CCD vision sensor 1, image preprocessing module 2, image processing module 3, control system 4, drive system 5, signal processing module 6, error analysis Module 7 , laser two-dimensional contour scanning sensor 8 , welding torch 9 and arc sensor 10 .

[0024] Described CCD visual sensor 1 is connected with image preprocessing module 2, and described imag...

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Abstract

The invention relates to an automatic tracking control and online correction system with a welding gun and a control method thereof and belongs to the technical field of robotic arc welding. The automatic tracking and control and online correction system comprises a vision sensing system, an image processing system, a tracking control system and an online correction system, wherein the vision sensing system comprises a CCD (Charge Coupled Device) vision sensor; the image processing system comprises an image preprocessing module and an image processing module; the tracking control system comprises the welding gun, a control system, a driving system, a signal processing module and an arc sensor; the online correction system comprises a laser two-dimensional outline scanning sensor and an error analysis module. According to the automatic tracking control and online correction system, butt-welded seams are predicated, tracked and corrected respectively a prewelding stage, a welding stage and a post-welding stage by virtue of error online fusion of three sensors, namely the CCD vision sensor, the arc sensor and the laser two-dimensional outline scanning sensor, so that the welded seam tracking precision and the fault tolerance of the system are improved, the welding production efficiency and the welding quality are improved, and the automatic tracking control and online correction system has generality.

Description

technical field [0001] The invention belongs to the technical field of robot arc welding, and relates to a welding seam tracking detection control method, in particular to a welding torch automatic tracking control and on-line correction system and a control method thereof. Background technique [0002] At present, there are two commonly used methods for welding seam automatic tracking control technology, one is the target control method of a given trajectory, and the other is an image processing method for monitoring welding points. The former is time-consuming and laborious, and the production efficiency is low; the latter increases It increases the difficulty of image processing and affects the tracking accuracy. During automatic welding, in order to compensate in real time the position and size of the weld seam caused by the processing and assembly errors of the workpiece and the welding thermal deformation, an appropriate seam tracking method must be adopted and the wel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/127
CPCB23K9/1276
Inventor 于华付邦晨许德章
Owner WUHU ANPU ROBOT IND TECH RES INST
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