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Welding seam tracking system and welding seam tracking method

A technology of tracking system and welding torch, which is applied in the field of weld tracking system and weld tracking, and can solve the problems of not being identical, unable to realize weld tracking, recognition, calculation, and accurate measurement of spacing, etc.

Active Publication Date: 2017-07-28
扬州力德工程技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this invention, a two-line laser sensor device is used. This type of device uses two laser lines as the basis for tracking, identification, and calculation. This type of device and its method are suitable for use in some ideal environments with some characteristics, but in some In actual environment, it cannot be used
For example, when the surface of the workpiece is uneven, the two lines that may appear on the workpiece are curves, and the distance between different parts cannot be accurately measured; in addition, when the workpiece is a fillet weld, the device will appear on the workpiece. fold line, and the two bend lines are not on the same plane, in this case, the tracking, identification and calculation of the weld cannot be realized
[0005] There is another device to track the weld seam based on a single laser line, but the single laser line is easily affected by vibration, resulting in inaccurate welding torch direction

Method used

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  • Welding seam tracking system and welding seam tracking method
  • Welding seam tracking system and welding seam tracking method
  • Welding seam tracking system and welding seam tracking method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] figure 1 It shows a structural schematic diagram of a seam tracking system in an embodiment of the present invention, including a visual sensing device, a bracket, a welding torch 9, a motion mechanism, a computer 5 and a baffle 8;

[0036] The visual sensing device includes a point laser 3 , a line laser 7 , and an area array camera 4 . The relative positions of the point laser 3, the linear laser 7 and the area array camera 4 are fixed, the point laser 3 is used to project a point laser to the workpiece 10, and the linear laser 7 is used to project the workpiece 10. Line laser, with a filter at the front of the area array camera lens;

[0037]The bracket includes a columnar main frame 1, a first adjustment frame 2 and a second adjustment frame 6, and the area array camera 4, the first adjustment frame 2, the second adjustment frame 6, the welding torch 9, and the baffle plate 8 are all installed on the main frame 1; the baffle plate 8 is placed between the welding t...

Embodiment 2

[0056] Figure 4 It is a point-line combined seam tracking system of two point lasers shown according to the embodiment, which is combined with figure 1 The difference is that the visual sensing device includes two point lasers 3; the two point lasers 3 are respectively installed on the left and right sides of the first adjustment frame 2, and can slide along the first adjustment frame 2 (Y direction). Two point-shaped lasers 3 are irradiated vertically downward on the surface of the workpiece, and the two laser points are respectively located on the left and right sides of the weld;

[0057] The angle β between the axis of the linear laser 7 and the vertical direction is 45°; the distance between the first adjustment frame 2 and the area array camera 4 is 12 mm; the laser points emitted by the two point lasers 3 are respectively projected on both sides of the weld 11 At a distance of 10 mm, ensure that the laser point on the workpiece 10 coincides with the laser line, and is...

Embodiment 3

[0060] Figure 5 It is a schematic diagram of the point-line laser combined seam tracking system for welding non-standard circular cross-section workpieces according to the embodiment. The point laser is irradiated vertically on the surface of the workpiece, and the laser point is located on one side of the weld (in the radial direction of the tube section); the line laser 7 is irradiated on the surface of the workpiece obliquely at a certain angle, and the line laser is perpendicular to the weld; the point laser 3. The laser point emitted vertically and the laser line emitted by the linear laser 7 overlap on the workpiece with a non-standard circular section; the area array camera 4 collects the image and transmits it to the computer 5; the distance between the first adjustment frame 2 and the area array camera is 15mm ; The laser point emitted by the point laser 3 is projected on the side of the weld seam at 10 mm. The other method steps are similar to those in Embodiment 1...

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Abstract

The invention discloses a welding seam tracking system and a welding seam tracking method. The welding seam tracking system comprises a vision sensing device, a bracket, a welding gun, a movement mechanism, a computer and a baffle, wherein the vision sensing device comprises a spot laser, a line laser and an area-array camera; the area-array camera collects images and transmits the collected images to the computer; the computer gives a command to control the movement mechanism to move in three-dimensional directions, so that during the welding process, the height of the welding gun can be automatically adjusted by monitoring the altitude changes of the workpiece surface. According to the welding seam tracking system and the welding seam tracking method, the welding seam height recognition tracking method and the welding gun adjusting method which are integrated based on the dot and line lasers is firstly adopted, the tracking method has a better adaptability to various working conditions, the limitation of the tracking method in the prior art is overcome, the response speed of the method is high, the altitude changes of the workpiece surface can be accurately identified, the accuracy is high, and the welding seam tracking can be completed high efficiently.

Description

technical field [0001] The invention relates to the technical field of welding automatic control, in particular to a welding seam tracking system, and also relates to a welding seam tracking method. Background technique [0002] In recent years, the industry's demand for workpiece welding has been expanding, and manual welding has been unable to meet the supply. Welding automation has been developed rapidly and widely used, and the research on welding tracking system has attracted more and more attention. It is of great significance for reducing labor intensity of workers and improving welding quality. However, when the steel plate is welded, the steel plate will collapse downward due to excessive heating time, excessive welding current or other circumstances, forming a pit-like phenomenon. This will lead to defects such as poor joint formation and lack of penetration of the workpiece. Therefore, it is necessary to identify the relative position of the workpiece and the w...

Claims

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Application Information

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IPC IPC(8): B23K37/02B23K37/00G06T7/73G06T7/246G06T1/00
CPCB23K37/0252G06T1/0014
Inventor 刘源泂周同聚王兴东刘钊曾镛杨雅伦黄志久
Owner 扬州力德工程技术有限公司
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