Chord member narrow space weld identification welding method and automatic welding equipment

Abstract

The present application relates to the technical field of welding, in particular to a string member narrow space weld identification welding method and automatic welding equipment. The method generates 3D point cloud through visual identification system scanning, improves data quality through hybrid filtering and distortion correction preprocessing, adopts improved Canny operator to fuse thermal field model to accurately extract weld geometric features, and realizes six-degree-of-freedom trajectory multi-objective constraint planning and dynamic compensation with the aid of (MPC) framework; the automatic welding equipment is based on gantry body, cooperates with track assembly, transverse moving mechanism, Z-direction moving module and adjusting device, and is linked with visual identification system and control system to form full-automatic closed-loop control, which improves the accuracy, real-time performance and anti-interference ability of weld identification, ensures the accurate controllability of welding torch trajectory, reduces the dependence on manual operation, reduces welding defects, improves production efficiency, and enhances the robustness, environmental adaptability and complex scene adaptation ability of the system.

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