Consumable electrode gas shielded-welding welding line identification visual sensor

Abstract

The invention discloses a consumable electrode gas shielded-welding welding line identification visual sensor. The sensor comprises an arc light transmission system, an image acquisition system and a light stopping cover relative height constant-value control system, wherein the arc light transmission system comprises a diaphragm, a light guide plate, flat plate glass, a reflective light path reflection mirror and inflaming retarding sponge; the image acquisition system is composed of an industrial camera with an Ethernet output interface; the light stopping cover relative height constant-value control system is composed of a large-moment direct-current motor, a screw rod, a controller, a light stopping cover and a contact type height sensor. The consumable electrode gas shielded-welding welding line identification visual sensor can be used for acquiring an image in the relatively sealed light stopping cover and only arc light strips with smaller area are acquired, so that the bad influences on imaging by splashed smoke dust are greatly reduced; strong arc light wide strips are projected on a welding line to be identified, and distortions are generated on two boundaries; the distortions of the two boundaries are compared so that the turning point with the larger angle of a broken line welding line can be smoothly identified, and the defect that the tracking speed of a traditional broken line welding line tracking method is too slow is avoided.

Description

technical field [0001] The invention relates to a visual sensor for welding seam recognition, in particular to a visual sensor for welding seam recognition of gas metal shielded welding. Background technique [0002] Manual welding has subjectivity and inconsistency in the control of welding quality, and the arc light and smoke generated during welding are harmful to the human body. Welding automation has become the main trend of welding technology development. As one of the necessary parts of automatic welding, seam recognition sensor can be divided into two types: contact type and non-contact type. Contact seam recognition sensors include mechanical sensors, etc., and non-contact seam recognition sensors include visual sensors, arc sensors, acoustic sensors, temperature sensors, and vibration sensors. Among them, the visual sensor has become one of the research hotspots of the automatic weld seam recognition sensor because of its advantages of obtaining large amount of in...

AI Technical Summary

Problems solved by technology

However, this type of product has the following disadvantages: (1) Due to the diffuse reflection of the edge of the laser stripe on the weldment, the edge image is slightly jagged, which is not conducive to the post-algorithm processing

(2) It is easy to produce shadow effects and miss the field of view during seam tracking

(3) Due to the serious interference of the welding arc on the laser, the laser can only be projected at a distance from the molten pool, which leads to a lead error at the weld recognition position relative to the current welding position

Due to the thermal deformation of the workpiece to be welded during the welding process, the centering position of the weld seam during welding may still deviate from the centering position of the weld seam during identification

(4) The price of the laser light source is relatively high, which increases the cost of the visual sensor

However, the image quality of the original weld recognition image is degraded after being light-reduced and filtered, and the gas shielded welding spatter and smoke are more, resulting in poor images acquired by the camera, which causes certain difficulties for the subsequent weld recognition algorithm processing

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