Automatic positioning and welding system adopting image recognition

Abstract

The invention discloses an automatic positioning and welding method adopting image recognition. The automatic positioning and welding method adopting image recognition comprises the following steps that 1, initialization is carried out on a system; 2, welding equipment is controlled to move along a main beam, whether the welding equipment reaches the end of the main beam or not is judged, the welding equipment moves continuously and imaging equipment is used for recognizing rib plates if the welding equipment does not reach the end of the main beam, the next step is executed if the rib platesare recognized, the welding equipment continues to move if the rib plates are not recognized, and the welding equipment stops working when reaching the end of the main beam; 3, the positions of the weld joints of the rib plates are recognized through the imaging equipment, and the welding equipment is controlled to move to the positions of the weld joints; and 4, welding is carried out on the weldjoints by controlling a welding gun of the welding equipment, and the step 2 is carried out again when welding is finished. Compared with the prior art, the automatic positioning and welding method adopting image recognition has the advantages that the technology that the weld joints of the rib plates are automatically positioned is achieved through image recognition; and the inner joints of a beam box of a crane can be effectively and automatically welded.

Description

technical field [0001] The invention relates to an automatic positioning welding system through image recognition. Background technique [0002] The internal ribs of the crane beam box are relatively small in size and are evenly arranged inside the beam box. Manual welding has been mainly relied on all the time. Due to the narrow space inside the beam box, welders need to crawl in the beam box for welding, and the welding conditions are very difficult. , The welding fume generated in the narrow space accumulates inside the beam box, which is very harmful to the human body. In addition, the production efficiency of manual welding is low, and the welding quality is not easy to guarantee. In order to improve the working conditions of workers, it is desired to design a robot welding control technology based on image recognition to realize the automatic positioning welding of the inner rib plate weld of the beam box (ie, the inner seam of the beam box). Contents of the inventio...

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Problems solved by technology

[0002] The internal ribs of the crane beam box are relatively small in size, and are evenly arranged inside the beam box. Manual welding has always been mainly relied on. Due to the narrow space inside the beam box, welders need to crawl in the beam box for welding, and the welding conditions are very difficult. , the welding fume generated in the narrow space accumulates inside the beam box, which is very harmful to the human body. In addition, the production efficiency of manual welding is low, and the welding quality is not easy to guarantee

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