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Welding gun deviation three-dimensional extraction method for sheet welding based on passive vision sensing

A visual sensing and thin plate welding technology, which is applied in welding equipment, arc welding equipment, manufacturing tools, etc., can solve the problems of unrealized three-dimensional deviation, low welding efficiency, and low welding quality, so as to improve welding quality, accuracy, high precision effect

Active Publication Date: 2018-04-17
NANCHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] When robot welding uses the "teaching and reproduction" mode to complete the workpiece connection, it often takes a lot of time and cannot deal with the interference caused by welding deformation. Therefore, the welding efficiency is low and the welding quality is not high. The automatic seam tracking technology is the solution to this problem. The first choice of the problem, and the detection and extraction of weld deviation is the premise of automatic tracking technology, and the accurate extraction of weld deviation is one of the research focuses in the field of welding technology
At present, many researches and patents in the automatic welding of thin-plate robot arc welding only realize the extraction of the deviation in one direction of the welding torch, and the extraction of the three-dimensional deviation has not yet been realized. However, the extraction of the three-dimensional deviation of the welding torch is helpful to the tracking accuracy of the welding torch, thereby improving the welding quality. Practical significance

Method used

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  • Welding gun deviation three-dimensional extraction method for sheet welding based on passive vision sensing
  • Welding gun deviation three-dimensional extraction method for sheet welding based on passive vision sensing
  • Welding gun deviation three-dimensional extraction method for sheet welding based on passive vision sensing

Examples

Experimental program
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Effect test

Embodiment 1

[0021] 1. Select a thin plate with a thickness of about 4mm, and select its welding area, such as image 3 As shown, automatic welding of thin plate and thin plate robot arc welding is adopted;

[0022] 2. Using a visual sensing device that includes a combination of a filter (the center wavelength is 660nm, and a half width is 20nm) and a light-reducing film (the transmittance is 0.040%), the image of the weld seam is collected, and the image includes the arc area, Weld edge, joint contour line, and use Gabor filter to obtain the direction feature map of the complete weld image, retain the direction feature map of ROI, and the gray value of other areas is processed as 0, such as Figure 4 shown;

[0023] 3. Perform the following operations on the weld image collected in 2: perform polynomial fitting on the row data of the ROI multiple times and obtain the position of the maximum gray value point of each time, and perform Otsu threshold segmentation on the direction feature ma...

Embodiment 2

[0026] 1. Select a thin plate with a thickness of about 4mm, and select its welding area, such as image 3 As shown, automatic welding of thin plate and thin plate robot arc welding is adopted;

[0027] 2. Adopt a visual sensing device including a combination of a filter (the central wavelength is 660nm, and a half width is 20nm) and a light-reducing film (the transmittance is 0.014%) to collect an image of the weld seam, and the image includes the arc area, Weld edge, joint contour line, and use Gabor filter to obtain the direction feature map of the complete weld image, retain the direction feature map of ROI, and the gray value of other areas is processed as 0, such as Figure 7 as shown in (a);

Embodiment 3

[0029] 1. Select a thin plate with a thickness of about 4mm, and select its welding area, such as image 3 As shown, automatic welding of thin plate and thin plate robot arc welding is adopted;

[0030] 2. Using a visual sensing device that includes a combination of a filter (the center wavelength is 660nm, and a half width is 20nm) and a light-reducing film (the transmittance is 0.040%), the image of the weld seam is collected, and the image includes the arc area, Weld edge, joint contour line, and use Gabor filter to obtain the direction feature map of the complete weld image, retain the direction feature map of ROI, and the gray value of other areas is processed as 0, such as Figure 7 as shown in (b);

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Abstract

The invention provides a welding gun deviation three-dimensional extraction method for sheet welding based on passive vision sensing. A vision sensing device comprising an optical filter with the center wavelength being 660 nm and a light reducing piece combination with the transmittance being 0.040% is adopted for obtaining a welding joint image containing a welding joint contour line, and the extreme value position is obtained through polynomial fitting; and then Otsu threshold value partition and a nearest neighbor clustering algorithm are adopted for extracting the joint contour line in the welding joint image. An algorithm for a welding gun tracking point on the joint contour line is obtained according to the design of the electric arc center position in the joint image, and thereforethe three-dimensional deviation of a welding gun is determined according to the vision calibration technology and the position, obtained by an image treatment system, of the welding gun. By means ofthe method, the extracted deviation is more accurate, in addition, deviation rectifying can be conducted on the welding gun in two directions at the same time, no extra sensor is needed, and the welding cost is better reduced.

Description

technical field [0001] The invention belongs to the field of welding technology, and in particular relates to a three-dimensional deviation extraction method of a welding torch for thin plate welding based on passive vision sensing. Background technique [0002] When robot welding uses the "teaching and reproduction" mode to complete the workpiece connection, it often takes a lot of time and cannot deal with the interference caused by welding deformation. Therefore, the welding efficiency is low and the welding quality is not high. The automatic seam tracking technology is the solution to this problem. The first choice of the problem, and the detection and extraction of weld deviation is the premise of automatic tracking technology, and the accurate extraction of weld deviation is one of the research focuses in the field of welding technology. At present, many researches and patents in the automatic welding of thin-plate robot arc welding only realize the extraction of the d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/095
Inventor 何银水余卓骅马国红
Owner NANCHANG UNIV
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