A control method for seam tracking

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 control method for seam tracking and belongs to 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 ...

AI Technical Summary

Problems solved by technology

[0006] The invention proposes a design idea of ​​a control method for seam tracking, which can not only obtain the left and right deviation between the center of the weld seam and the center of the molten pool to realize seam tracking, but also can be completed by swinging the visual sensor and switching the light reduction filter The guidance of the initial position of the weld and the planning of the weld trajectory make full use of the information that the visual sensor can obtain, and solve the problems of single function, low versatility and poor flexibility of the current visual sensor used for weld tracking

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