Multi-layer and multi-pass welding device and method based on visual representation

Abstract

The invention relates to a multi-layer and multi-pass welding device and method based on visual representation, and belongs to the field of welding automation. The device comprises a walking body, a walking rail, a 3D laser profile sensor and a welding gun, wherein a welding seam is scanned by the 3D laser profile sensor to obtain a welding track and a welding gun pose; the walking body, welding gun and 3D laser profile sensor are controlled to move on the walking rail by a walking servo motor; the welding gun is controlled to move in the depth direction of the weld seam through a z-axis servomotor; the welding gun is controlled to move in the transverse direction of the weld seam through a y-axis servo motor; and the welding gun pose is controlled by a welding gun pose control servo motor. The invention has the advantages that the device uses a welding cross section planning model of equal height and equal area of each layer and each pass and a segmented real-time identification welding trajectory model under a moving coordinate system to carry out autonomous and real-time planning of welding trajectory and welding gun pose of each layer and each cross during the process of welding, without manual teaching and with intelligent independent control of multi-layer and multi-pass welding process.

Description

technical field [0001] The invention relates to the field of welding automation, in particular to visual sensing technology and gas metal shielded welding welding trajectory recognition technology, especially to a multi-layer and multi-pass welding device and welding method based on visual representation. Background technique [0002] Multi-layer and multi-pass welding technology is widely used in the welding of medium and thick plate structural parts such as oil pipelines, pressure vessels, ships, and aviation. Traditional gas metal shielded welding multi-layer and multi-pass welding equipment: [0003] (1) For each weld seam, the position of the welding torch and the position of the welding wire end point in the transverse direction of the weld seam and the depth direction of the weld seam need to be manually positioned and adjusted repeatedly. This process is low in automation and low in efficiency. [0004] (2) When welding each seam, the walking path in the welding dire...

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Problems solved by technology

[0003] (1) For each weld seam, the position of the welding torch and the position of the welding wire end point in the transverse direction of the weld seam and the depth direction of the weld seam need to be manually positioned and adjusted repeatedly. This process is low in automation and low in efficiency

[0004] (2) When each seam is welded, the walking path in the welding direction needs to be taught manually, and this process increases the welding man-hour

[0005] The traditional multi-layer multi-pass welding technology often fails to achieve independent path planning and intelligent control of the entire welding process. Therefore, welding workers propose a multi-layer multi-pass welding path planning technology: the main idea is to use equal cross-sectional area filling Strategies such as strategy and contour filling plan the position and posture of the welding torch in the subsequent welding process according to the cross-sectional shape of the unwelded weld groove, but this technology also has shortcomings:

[0006] (1) Use equal cross-sectional area filling strategy, contour filling and other strategies to plan the weld path before welding, mainly simplify the cross section of each weld to a parallelogram, trapezoid, triangle and other ideal shapes to fill the predetermined weld, and then pre-plan the welding seam through planning and processing. Set the weld path; on the one hand, the ideal shape does not match the actual cross-sectional shape of each weld, and on the other hand, the preset weld path does not match the ideal welding path, so it is difficult to ensure the stability of the welding process and the quality of the weld

[0007] (2) The pre-planned multi-layer multi-pass welding path planning technology is only to better determine the position and pose of the welding wire end point on the weld section, that is, the walking path of each weld in the welding direction still depends on manual teaching Compared with offline programming, it fails to achieve the effect of real-time self-setting of welding equipment

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