Method and system of three-dimensional weld seam tracking based on visual and rotary electric arc composite sensing

A rotating arc and composite sensing technology, applied in arc welding equipment, welding equipment, manufacturing tools, etc., can solve problems such as low tracking accuracy, low stability, and susceptibility to interference, and achieve enhanced weld stability and improved The effect of anti-interference ability and tracking accuracy

Active Publication Date: 2018-12-11
番禺珠江钢管(珠海)有限公司 +1
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Problems solved by technology

In general, the existing seam tracking system only uses a single type of sensor for detection. The sensing information obtained by this method is single and easily interfered, resulting in low tracking accuracy and low stability.

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  • Method and system of three-dimensional weld seam tracking based on visual and rotary electric arc composite sensing

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Embodiment Construction

[0054] The present invention will be further explained and described below in conjunction with the accompanying drawings and specific embodiments of the description. For the step numbers in the embodiment of the present invention, it is only set for the convenience of explanation and description, and there is no limitation on the order of the steps. The execution order of each step in the embodiment can be carried out according to the understanding of those skilled in the art Adaptive adjustment.

[0055] refer to figure 1 , the present invention is based on the three-dimensional seam tracking method of visual and rotating arc composite sensing, comprising the following steps:

[0056] Obtain two position images of the weld to be welded through the binocular vision sensor;

[0057] According to the acquired two position images, the image processing method is used to calculate the three-dimensional coordinates of the weld to be welded;

[0058] Obtain the weld seam current s...

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Abstract

The invention discloses a method and a system of three-dimensional weld seam tracking based on visual and rotary electric arc composite sensing. The method comprises the following steps that two position images of a weld seam to be welded is acquired through a binocular vision sensor; according to the obtained two position images, three-dimensional coordinates of the weld seam to be welded are calculated by adopting an image processing method; a weld current signal is acquired through a rotary electric arc sensor; a deviation value of a welding gun and a weld seam center is calculated according to the weld current signal; the three-dimensional coordinates and the deviation values are subjected to fusion processing to generate a three-dimensional deviation value of the weld seam; accordingto the three-dimensional deviation value of the weld seam, a PID control method is adopted for carrying out real-time tracking on a robot hand; and the system comprises an image acquisition module, acoordinate calculation module, a signal acquisition module, a deviation value calculation module, a fusion processing module and a tracking module. According to the method and the system, the anti-interference capability, the precision and the weld seam stability are improved, and the method and the system can be widely applied to the technical field of welding automation.

Description

technical field [0001] The invention relates to the technical field of welding automation, in particular to a three-dimensional welding seam tracking method and system based on vision and rotating arc composite sensing. Background technique [0002] At present, the first generation of "teaching-reproduction" welding robot is widely used at home and abroad. The working trajectory of this kind of robot is only reproduced according to the teaching path, and it lacks the ability to perceive and track the changes in the working conditions during the welding process. , It is difficult to meet the high requirements of advanced manufacturing enterprises for welding. [0003] The seam tracking system is composed of a sensor system, a control system and an actuator. Among them, the sensor technology is an important part of the seam tracking system, and its main function is to obtain the status information of the welding process, including the height and position of the welding torch ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/127
CPCB23K9/1276
Inventor 杜健辉邓建新黄克坚黄杰生谢磊
Owner 番禺珠江钢管(珠海)有限公司
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