Laser adjustable elliptic tank welding seam tracking sensor

Abstract

The invention relates to the field of welding seam tracking, in particular to the field of welding seam tracking of an elliptic tank. The invention discloses a laser adjustable elliptic tank welding seam tracking sensor. The laser adjustable elliptic tank welding seam tracking sensor is composed of a binocular synchronous scanning visual system, a laser transmitter adjusting device, a light filtering system conversion device, a magnetic attraction reversing device and the like. The elliptic tank welding seam tracking sensor can perform grading fine adjustment on the emission angle of a laser beam, the elliptic tank welding seam tracking sensor adopts an integrated design, an elliptic space welding seam can be tracked in a signal fusion mode, and the after-welding surface fusion width and welding seam penetration information can be collected while tracking is performed. The device has the advantages of compact structure, high integration degree, high detection precision, abundant detection functions, small advanced errors and the like. The invention further provides a full-automatic elliptic tank welding method, the automation level of welding of the elliptic tank can be increased, and then the welding efficiency of the elliptic tank is improved.

Description

technical field [0001] The invention relates to the field of seam tracking, and relates to a laser-adjustable welding seam tracking sensor for an elliptical tank. Background technique [0002] In engineering practice, tank containers are widely used in various industries due to their simplicity, effectiveness and convenient transportation. With the rapid development of the heavy-duty tank truck market, the demand for tank containers is increasing, and the production of tank containers requires a large number of welding processes. The tank container belongs to the welding of large structural parts, and its welding automation level is low. Therefore, the production of the tank container has become a labor-intensive industry requiring a large number of welders, and the working environment is harsh and the labor cost is high. Therefore, it is necessary to realize the automation of tank container welding. urgent problem to be solved. In the automatic welding process of elliptic...

AI Technical Summary

Problems solved by technology

Due to the unavoidable gaps in the size change of the tank body and the head during the assembly process, there are post-weld deformations during the welding process, and the laser vision weld seam tracking has defects such as advanced errors due to advanced recognition, identifying these assembly gaps and adjusting the welding process in real time has become an improvement. The key to the quality of weld seam formation

[0003] After searching the existing literature and technology, it was found that the Chinese patent application document with the application number 201711060054.7 titled "Multifunctional Vision Sensor Device Based on Compound Laser Structured Light" provides a multifunctional vision sensor device with compound laser structured light. The sensor adopts The cross-line laser and the line-line laser are calibrated at the same time, which can realize the functions of welding torch height detection, welding groove section size detection, welding seam guidance and tracking, real-time monitoring of welding process, etc. It cannot be adjusted in real time, and the lead error will be increased and the field of view will be lost when the weld seam tracking is performed on complex space curves with curvature radius changes such as elliptical tank structures; the sensor is used for robot welding, and the robot welding process is due to the The working range and pose restrictions are not suitable for the welding of large structural parts such as oval tanks; in addition, the filter of the sensor is on the lens, and the filter cannot be automatically replaced when looking for welding spots and taking pictures under natural light conditions

Zou Yanbiao published the article "Automatic Weld Tracking with Laser Vision Based on Probabilistic Continuous Model" in "Journal of Mechanical Engineering", Volume 53, Issue 10, May 2017, which discussed the welding seam tracking algorithm based on probabilistic continuous model , the algorithm can effectively solve the problem of misidentification of weld feature points caused by noise interference in the welding process. In the tracking process, the algorithm uses a linear representation model to model the observation vector and uses an affine transformation model to describe the weld motion , when tracking complex space curves with changing radius of curvature, the linear representation model will have a certain influence on the accuracy of weld seam tracking. The distance between the laser stripes and the weld pool is fixed, and it will Affects the real-time performance of tracking

The prior art discloses a composite function binocular vision sensor suitable for mobile autonomous welding robots and a welding robot servo binocular vision sensor. These two patents respectively use a motor rotating mechanism to drive the rotation of the light reduction filter system and a cylinder to push the filter to move. The function of automatically loading or removing the light reduction filter system, but due to the complex structure of the motor rotation and the need for an external pneumatic system for the cylinder, it is not suitable for crawling welding robots for seam tracking

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