Aero-engine front support intersecting line welding seam recognition method based on laser vision

Abstract

The invention discloses an aero-engine front support intersecting line welding seam recognition method based on laser vision which can be applied to intersecting line welding of a front support cylinder wall and a connecting tube. An image is collected through an annular laser vision sensor, the deflection degree and the section center of the tube are recognized through image segmentation, and theinclination angle is calculated. A servo rotary disc is adjusted to enable the turnover face of a positioning rod to be parallel to the front projection face of the connecting tube, a turnover mechanism is adjusted to enable the positioning rod to be parallel to the connecting tube, the positioning rod is moved to be located over the connecting tube, and the telescopic mechanism extends the positioning rod to be centered with the connecting tube. The annular vision sensor scans a welding seam groove, fitting and smoothing treatments are conducted on a scanning signal, and an intersecting linewelding seam is obtained. The method is simple in algorithm, capable of rapidly and accurately identifying the connecting tube inclination angle and the welding seam position, few in inclination angle adjusting step of a welding gun positioning rod, small in welding error and high in efficiency.

Description

technical field [0001] The invention mainly relates to the field of welding automation, in particular to a laser vision-based method for identifying intersecting line welds of an aero-engine front bracket. Background technique [0002] At present, in machinery manufacturing industries such as mechanical assembly, marine engineering equipment, rail vehicles, and large pressure vessel industries, manual welding has gradually withdrawn from the production line, and automated welding robots, automated welding planes, and intelligent welding technology have become the main trend of welding technology development. . [0003] In the above-mentioned projects, there are a large number of pipe welding situations, especially oblique intersections. There is usually an angle error in the assembly of the connecting pipe and the front bracket, resulting in oblique intersection between the connecting pipe and the front bracket. Manual welding is difficult and the welding environment is poor...

AI Technical Summary

Problems solved by technology

The process of this method is complex, the calculation scale is huge, and the calculated intersecting line weld and the actual weld groove often have a large deviation, so the welding error is relatively large, and the assembly and welding accuracy of the connecting pipe and the front bracket is high. Therefore, a simple algorithm and high precision welding method for oblique pipes is expected

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