Welding seam tracking and controlling system for combined welding

Abstract

The invention provides a welding seam tracking and controlling system for combined welding. The welding seam tracking and controlling system comprises a laser sensor, an image processing computer and a controller. The laser sensor is used for collecting first position image information and second position image information of a welding seam; the image processing computer is used for calculating the transverse deviation and the longitudinal deviation of the welding seam according to the first position image information and the second position image information; welding parameters of the welding seam are obtained according to the second position image information, and the laser output power controlling quantity is calculated according to the welding parameters; the transverse deviation is transformed into a transverse deviation voltage, the longitudinal deviation is transformed into a longitudinal deviation voltage, and after delay calculation is conducted according to the preact delay quantity, the transverse deviation voltage, the longitudinal deviation voltage and the laser output power controlling quantity are sent to the controller; the controller is used for controlling an actuator to correct the transverse deviation according to the transverse deviation voltage and correct the longitudinal deviation according to the longitudinal deviation voltage so that a combined welding torch and the welding seam can be maintained in a centering state; the output energy of the laser sensor is controlled according to the laser output power controlling quantity to ensure the welding quality.

Description

technical field [0001] The invention belongs to the technical field of petroleum engineering welding, and in particular relates to a hybrid welding seam tracking control system. Background technique [0002] At present, when welding large-diameter pipelines, laser / arc hybrid welding technology is generally used for welding. Because the laser / arc hybrid welding technology has the characteristics of fast welding speed, high energy density and short action time, the diameter of the laser focus spot is only on the order of 0.15mm, and the tracking accuracy is less than 0.15mm. However, during welding, if the deviation caused by the irregular welding seam cannot be identified and corrected, the quality of the welding spot will be reduced or even the welding failure will be caused. [0003] However, the existing automatic pipeline welding equipment mainly relies on manual centering during the welding process. This method is labor-intensive, has low weld alignment accuracy, and ca...

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Problems solved by technology

[0004] In view of the problems existing in the prior art, the embodiment of the present invention provides a hybrid welding seam tracking control system, which is used to solve the technical problem that the welding quality cannot be guaranteed in the prior art when laser / arc hybrid welding is used for welding

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