Method for identifying cross point of 90-degree broken line fillet weld joint based on wire extension change characteristic
A feature recognition and intersection technology, applied in the field of robotics, can solve problems such as high welding cost, narrow welding space, and complex welding seam forms, achieve major economic and social benefits, improve quality and efficiency, and improve the effect of shipbuilding.
Active Publication Date: 2019-05-03
NANCHANG UNIV
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[0002] During the shipbuilding process, it is necessary to weld a large number of 90° fold line fillet welds in the cabin. Due to the sudden change in the weld posture, the weld form is complex, and the welding space is narrow, the application range of the automatic welding trolley and the fixed mechanical arm is relatively limited. At present, the 90° folded line fillet weld is still completed by manual welding, which makes the welding cost very high, and the quality and efficiency of the welding are not high. The machine recognition of the intersection point of the folded line fillet weld is a key technology for the automatic welding of the 90° folded line fillet weld. It is of great significance to study the machine recognition of the intersection point of the 90° folded line fillet weld
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[0023] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
[0024] According to the present invention, a method for identifying the intersection point (9) of a 90° fold line fillet weld based on the dry elongation variation feature, the detailed description of the implementation is as follows:
[0025] The actual weld is divided into many very short welds, and each weld can be approximated as a straight line weld due to its very short length. figure 1 In order to establish the mathematical model of welding torch (4) relative to the welding seam, the line segment AB is a very short straight line welding seam, the welding speed is v, and the current welding point is taken as the coordinate origin o, along the opposite direction of the welding speed Establish the x-axis, establish the z-axis vertically upward, determine the direction of the y-axis according to the right-hand rule, and complete the estab...
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The invention provides a method for identifying a cross point of a 90-degree broken line fillet weld joint based on the wire extension change characteristic. The method comprises a calculation methodof the wire extension, a mode identification method, and a detection method of the cross point identification precision; the calculation method of the wire extension when a first-section linear weld joint, the cross point and a second-section linear weld joint of the 90-degree broken line angle weld joint are welded is obtained; and when the cross point of the 90-degree broken line fillet weld joint is welded, the larger the angle of rotating of a welding gun around the rotating center is, the shorter the actual wire extension is, thus the larger a sampled welding current is, and according tothe characteristic of the wire extension when the cross point of the 90-degree broken line fillet weld joint is welded, the cross point of the 90-degree broken line fillet weld joint is identified through the mode identification method. According to the method for identifying the cross point of the 90-degree broken line fillet weld joint based on the wire extension change characteristic, the 90-degree broken line fillet weld joint is advantageously welded automatically through a machine, the tracking welding quality and efficiency of the 90-degree broken line fillet weld joint in a cabin can be improved, and significant economic and social benefits can be generated.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a method for identifying intersections of 90° fold line fillet welds based on stem elongation variation characteristics. Background technique [0002] During the shipbuilding process, it is necessary to weld a large number of 90° fold line fillet welds in the cabin. Due to the sudden change in the weld posture, the weld form is complex, and the welding space is narrow, the application range of the automatic welding trolley and the fixed mechanical arm is relatively limited. At present, the 90° folded line fillet weld is still completed by manual welding, which makes the welding cost very high, and the quality and efficiency of the welding are not high. The machine recognition of the intersection point of the folded line fillet weld is a key technology for the automatic welding of the 90° folded line fillet weld. It is of great significance to study the machine recognition of the i...
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Inventor 乐健卢成锦洪刚徐星张华
Owner NANCHANG UNIV