A laser adjustable oval tank weld seam tracking sensor

Abstract

The invention relates to the field of welding seam tracking, in particular to the field of welding seam tracking of elliptical tanks. The invention discloses a laser adjustable elliptical tank welding seam tracking sensor, which is composed of a binocular synchronous scanning vision system, a laser emitter adjustment device, a filter system conversion device, a magnetic suction reversing device and the like. The elliptical tank weld seam tracking sensor can perform graded fine-tuning of the angle of laser beam emission. At the same time of tracking, it can also collect the information of surface fusion width and weld penetration after welding. It has the advantages of compact structure, high integration, high detection accuracy, rich detection functions, and small lead error. The invention also proposes a fully automated oval tank welding method, which can improve the automation level of the oval tank welding, thereby improving the efficiency of the oval tank welding.

Description

technical field [0001] The invention relates to the field of welding seam tracking, and is a laser adjustable oval tank welding seam tracking sensor. Background technique [0002] In engineering practice, tank containers are widely used in all walks of life due to their simplicity, effectiveness and convenient transportation. With the rapid development of the heavy-duty tanker market, the demand for tank containers is increasing, and the production of tank containers requires a large number of welding processes. Tank containers belong to the welding of large structural parts, and the level of welding automation is low. Therefore, the production of tank containers has become a labor-intensive industry that requires a large number of welding workers, and the working environment is harsh and labor costs are high. Urgent problem to be solved. In the automatic welding process of elliptical tanks, new requirements are put forward for the welding seam tracking of elliptical tanks...

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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