Vision sensing device for welding seam tracking

A visual sensor, visual sensor technology, applied in welding equipment, arc welding equipment, manufacturing tools, etc., can solve the problems of poor flexibility, single function, lack of

Active Publication Date: 2018-05-08
XIANGTAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are still relatively few applications for the guidance of the initial position of the weld and the planning of the weld trajectory. Therefore, the current visual sensors used for weld tracking have the problems of single function, low versatility and poor flexibility.

Method used

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  • Vision sensing device for welding seam tracking
  • Vision sensing device for welding seam tracking
  • Vision sensing device for welding seam tracking

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0026] Example 1, such as figure 1 As shown, the first step: before the welding starts, the visual sensor 4 directly takes pictures of the workpiece 3 without adding a light-reducing filter, and the image processing is used to identify and guide the welding seam and the starting position of the welding And carry out the trajectory planning of the front distance welding torch for rough tracking.

[0027] Step 2: Swing the swing arm 5 to align the vision sensor 4 with the welding torch, and the upper position of the slider 1 (22) is ready to acquire images during welding in real time.

[0028] Step 3: After starting welding, process the image collected by the visual sensor to obtain the deviation value between the center of the weld seam and the center of the molten pool, and then compare it with the left and right deviation value obtained by the magnetron arc sensor. When the threshold value is higher than the threshold value, the deviation information obtained by the visual s...

Embodiment 2

[0031] Example 2, such as Figure 2-Figure 5 , the slider 1 (22) and the slider 2 (29) move on the slide rail 17, and the slider 1 (22) drives the rotating gear 25 meshed with the transmission gear 19 through the transmission motor 21 to rotate and slide , the motion state of the slider 2 (29) is jointly determined by the spring 34 and the electromagnet 26 on the slider 1 (22).

[0032] Described transmission motor 21 adopts photoelectric switch to control the on-off of relay to control the positive and negative rotation and start-stop of transmission motor, as Figure 4 , 5 . Among them, the relay normally closed normally open contact SB 2 Controlled by the photoelectric switch 1 (9), when the shading plate 1 (11) on the swing motor 7 rotates to the photoelectric switch 1 (9) on it, the normally open contact SB 2 closed, normally closed contact SB 2 disconnected, the transmission motor 21 rotates forward, and at the same time Figure 5 The light-emitting diode in the mi...

Embodiment 3

[0033] Example 3, such as Figure 6 As shown, the electromagnet 26 uses the photoelectric switch 2 (10) and the photoelectric switch 3 (27) to control its on-off through the SR latch. When the light-shielding sheet 3 (33) entered the photoelectric switch 3 (27), the S terminal was set to 1 in the SR latch, and the R terminal was still 0. At this time, Q was converted to Q=1, and the electromagnet 26 was energized to absorb the iron block 32 Drive slide block 2 (29) common motion, simultaneously Figure 6 Medium LED D 2 Conduction, indicator light 3 (16) is bright. When the swing motor 7 starts to move, it drives the shading plate 1 (11) on the rotating shaft 1 (8) to rotate to the photoelectric switch 2 (10). At this moment, the R terminal is set to 1, the S terminal is 0, Q is converted to Q=0, and the electromagnetic Iron power failure, slide block 2 (29) resets under the effect of spring 34, and indicator light 3 (16) goes out simultaneously. Make full use of the hold, ...

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PUM

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Abstract

The invention discloses a vision sensing device for welding seam tracking. The vision sensing device for welding seam tracking is used for jointly achieving automatic tracking of welding seams with amagnetic control arc sensor. Before welding starts, a vision sensor acquires an image of a to-be-welded workpiece under the condition that optical filters for light are not increased or decreased, andrecognizing and guiding of the welding initial position and planning of the welding gun trajectory are completed. Next, the vision sensor is made to swing to be aligned with a welding gun, at the moment, a slider 1 is automatically loaded to a light passing hole, the left and right deviation information during welding starts to be acquired, a deviation signal acquired by the magnetic control arcsensor is used for joint correction to achieve welding seam tracking, after the welding gun trajectory path acquired at the beginning is completed, it is needed to swing the vision sensor again so asto acquire a front weldment image, in the process from that the vision sensor is aligned with the welding gun to swing to that the vision sensor is perpendicular to a workpiece, a slider 2 is automatically loaded to the light passing hole to perform continuous sampling on the weldment image, the accurate welding seam image is acquired by means of image treatment, the accurate welding seam image and the deviation information acquired by the magnetic control arc sensor are used for joint accurate tracking, and automatic welding is completed.

Description

Technical field: [0001] The invention relates to a visual sensing device for seam tracking and the technical field of automatic welding sensing. Background technique [0002] The tracking accuracy and stability of complex welds such as curved lines and folded lines and angles are low, and the information obtained by a single sensor can only reflect certain aspects of the welding process. The complete information is incomplete, and it is difficult to guarantee the accuracy and reliability of the input information, so it is impossible to accurately complete the automatic tracking of the weld. [0003] At present, most of the visual sensors used in the field of automatic seam tracking basically only have a set of light reduction filters, so they can only obtain weld images under a single condition. The main function is to obtain the distance between the center of the weld and the center of the molten pool. Left and right deviation to realize seam tracking. However, there are ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/127B23K9/133
CPCB23K9/1276B23K9/133
Inventor 洪波李伟鹏谭炽泉王英俊贾爱亭
Owner XIANGTAN UNIV
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