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Three-dimensional weld seam tracking system and method based on visual and arc-pressure sensing

A tracking system and pressure sensing technology, applied in arc welding equipment, electrode characteristics, welding equipment, etc., can solve the problems of welding deviation error, reduce processing time, ensure stability, and reduce size

Active Publication Date: 2018-10-12
GUANGDONG FUWEIDE WELDING
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Problems solved by technology

However, the motion control in the literature does not involve the attitude control of the welding torch, and the camera is only calibrated on the plane workpiece before welding. The error of the welding deviation obtained by the image processing algorithm is large

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  • Three-dimensional weld seam tracking system and method based on visual and arc-pressure sensing
  • Three-dimensional weld seam tracking system and method based on visual and arc-pressure sensing
  • Three-dimensional weld seam tracking system and method based on visual and arc-pressure sensing

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Embodiment Construction

[0035] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the embodiments and accompanying drawings.

[0036] Such as figure 1 As shown, a three-dimensional seam tracking system based on vision and arc pressure sensing is shown. The system is composed of three parts: image acquisition and processing module, arc pressure sensing module and robot control module; the image acquisition and processing module, Composed of a CCD camera 1 and an industrial computer 4, it is used to collect images of molten pool welds in the welding process, and transmit the images to the industrial computer, and the industrial computer calculates the welding deviation through image processing methods; the arc pressure sensing module is controlled by the arc Composed of pressure sensor 5, A / D conversion module and industrial computer 4, it is used to collect the arc voltage ...

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Abstract

The invention discloses a three-dimensional weld seam tracking system and method based on visual and arc-pressure sensing. The system comprises an image acquisition and processing module, an arc pressure sensing module and a robot control module; and the image acquisition module is used for shooting an arc, a molten pool and a weld image in the welding process, the image is transmitted to an industrial personal computer, and the industrial personal computer calculates and obtains a welding deviation through an image processing algorithm. The arc pressure sensing module is used for collecting arc voltage values in the welding process and transmitting the arc-pressure value to the industrial personal computer, the industrial personal computer keeps the stability of the arc length in the welding process according to the arc-pressure-arc length relation, and the effect of height direction control is achieved. The robot control module is used for robot movement deviation correction and welding gun posture control.

Description

technical field [0001] The invention relates to the field of welding technology, in particular to a three-dimensional welding seam tracking system and method based on vision and arc pressure sensing. Background technique [0002] Among the existing welding robots, most of them are teaching reproduction welding robots, which cannot change the welding trajectory in the face of the size error, positioning error and thermal deformation of the workpiece during the welding process, resulting in the welding torch not being able to accurately follow the welding path. Walking along the weld seam will affect the stability of the welding process and the welding quality. In addition, when dealing with multi-pass welding or complex shape curves, workers need to spend a lot of time teaching, resulting in low production efficiency. Seam tracking technology acquires welding deviation or seam position through sensors to guide the welding torch actuator to walk along the seam, which is of gr...

Claims

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Application Information

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IPC IPC(8): B23K9/127B23K9/133B23K9/28G06T5/00G06T7/12G06T7/13G06T7/80
CPCG06T7/12G06T7/13G06T7/80B23K9/1274B23K9/133B23K9/28G06T2207/20028G06T2207/20104G06T5/70
Inventor 石永华刘炜聪顾盛勇
Owner GUANGDONG FUWEIDE WELDING
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