CN1006935B - Apparatus for measuring the cross-section area of welded grooves - Google Patents
Apparatus for measuring the cross-section area of welded groovesInfo
- Publication number
- CN1006935B CN1006935B CN 85106473 CN85106473A CN1006935B CN 1006935 B CN1006935 B CN 1006935B CN 85106473 CN85106473 CN 85106473 CN 85106473 A CN85106473 A CN 85106473A CN 1006935 B CN1006935 B CN 1006935B
- Authority
- CN
- China
- Prior art keywords
- welding
- range data
- groove
- work pieces
- luminous point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The present invention relates to the automation of groove welding, particularly to a device for detecting the cross-section area of a mechanically humanized groove. An optical distance sensor device scans along the direction which is slightly perpendicular to a welding line, and detects and memorizes the distance from the sensor device to the welding groove in every scanning pitch. The memory data is converted into distance data which takes the main material surface of a welding workpiece as the reference, the sum of all scanning pitches is solved, the sum is multiplied by proportionality factors, and thus, the device for detecting the cross-section area of the welding groove is formed to detect the cross-section area of the groove in high precision at high speed.
Description
The invention relates to the bevel for welding sectional area pick-up unit that uses as non-contact sensor with high-quality, the high-level efficiency of arc welding, automatic welding machine that low cost is purpose or electroplating equipment wielding machine people etc.
Prior art, in arc welding, particularly in, during the welding of slab workpiece, as shown in Figure 1, opened groove and welded.Under this situation, because the skew of the machining precision of setting accuracy, tacking precision or the groove of welding work pieces 1, the sectional area of groove and groove center line 2(sealing wire, position Fig. 1) will change.Therefore,, must detect the sectional area of groove, carry out the control of suitable welding condition, and detect the groove center line, make welding torch consistent with sealing wire for the robotization of groove welding.Welding sensor in the past, for example detecting sealing wire with the sensor of contact is to be relatively easy to, and existing multiple practicability., accurately detect the sensor of groove basal area and also make, as shown in Figure 2, contact 3 is inserted in the groove,, detect the shift in position of its above-below direction with the sensor 4 that is contacted with contact 3, on the basis of these data, it is long-pending to obtain groove section approx with computing circuit 5.; with this method of handling according to the contact operate approximately, because grit spatter in the groove, or the cause of the barrier of tacking welding bead etc. and the irregular and pad difference of groove etc.; obtain must precision detection be difficult, and aspect reliability, a lot of problems are arranged also.
For example the disclosed a kind of area pick-up unit of U.S. Pat-3782833 is length by the detection plane object and width obtaining its area, but this just can not play a role for the surface of not advising of detection resemble the bevel for welding.
The present invention makes in view of prior art, purpose is to provide one in the noncontact mode, high precision, high reliability ground detect the long-pending bevel for welding sectional area pick-up unit of groove section, to help robotization, the robotization of arc welding.
Apparatus of the present invention, be by the light projector device that luminous point is projeced on the welding work pieces, and the sensor device that will be constituted by the infrared rays receiver of the luminous point reception of throwing on above-mentioned weldment, calculate the device of the luminous point image position of above-mentioned infrared rays receiver, with the sensor device on the sealing wire of above-mentioned welding work pieces haply with meeting at right angles scanning scanister, above-mentioned luminous point with above-mentioned every scan unit pitch, the range data conversion memory storage that the output of image position pick-up unit is stored as range data, is the range data converting means of the range data of benchmark with the data conversion of storage for the mother metal face with above-mentioned welding work pieces, and, constitute bevel for welding sectional area pick-up unit with the long-pending integrating gear of groove section of obtaining above-mentioned welding work pieces with the output integration of above-mentioned range data converting means.
As light projector device of the present invention, that can consider has laser, light emitting diode (LED), tungsten lamp, fluorescent light, flashlamp etc., but when light projector light beam (being luminous point) was invested the bottom surface from welding work pieces surface, for example, distance was during for number 10mm, be shrunk to the circle that diameter is 0.5mm, or minor axis is 0.5mm, and major axis is about 3 times ellipse of minor axis, and laser is effective.As light collecting device, can use optical lens.
Secondly, as infrared rays receiver, can use optical lens, semiconductor that the light that will throw on the above-mentioned welding work pieces concentrates or the photoelectric sensor that videotapes tubular type.Here said semiconductor transducer can be that image sensor or the photosemiconductor position that is formed with the even resistive layer of one deck on photodiode detect sensor (another name position sensing apparatus, be called for short PSD), but disturb in order to remove ambient light, above-mentioned light is modulated, then its modulation signal is separated timing, PSD is then better than image sensor.Secondly, luminous point image position pick-up unit, with above-mentioned on sensor surface the light spot position of knot picture be transformed into time or magnitude of voltage and export.Sensor is the situation of image sensor, pick-up unit as the luminous point image position, for example, by the image sensor driving circuit, amplification circuit with the output amplification of image sensor, set the reference value initialization circuit of reference value, the output of above-mentioned amplification circuit and benchmark initialization circuit is compared, with the output that detects above-mentioned amplification circuit comparator circuit greater than the scope of reference value, according to the output of above-mentioned comparator circuit, the time instrumentation loop that the counter of the time between instrumentation is inverted from one scan starting point to the output of above-mentioned comparator circuit of above-mentioned image sensor etc. constitutes etc. constitute.Also have, when sensor is PSD, then by will be transformed into respectively from the electric current that PSD two electrodes flow out the current-voltage conversion circuit of voltage, only detect the specific modulation frequency bandpass filter, with the output of bandpass filter and and the simulation division IC of the circuit obtained with simulations such as operational amplifier ground of difference and the division of will above-mentioned difference simulating divided by above-mentioned and work constituted, and the luminous point above the PSD tied the image position detect as magnitude of voltage.
Secondly, scanister as the sensor shaven head, for example, make to exchange or direct current motor turns round repeatedly, and make it to become the parallel motion of slide rule, the sensor shaven head that invests on the slide rule is slightly scanned with sealing wire with meeting at right angles by screw rod, in order to detect the position of scanning, can on screw rod, enclose scrambler, or use pulse motor, make the sensor shaven head in the plane that is parallel to the welding work pieces surface, do circular motion through gear the crosscut sealing wire.At this moment, because the cause of pulse motor, the scanning position of sensor shaven head can be detected by the driving pulse that detects pulse motor.
Next range data conversion memory storage, because by position with the sensor shaven head of the above-mentioned every scanning pitch unit that carries out with scanister, detected with the position detecting circuit that detects above-mentioned coded signal and pulse motor driving pulse, at per unit pitch place with the output of above-mentioned luminous point image position pick-up unit A/D(analog to digital in addition) conversion, and with reference to the distance table that makes in advance, the range data of transformation one-tenth from the sensor shaven head to welding work pieces is also with it storage, so mat microcomputer etc. can easily be realized.Also have, becoming above-mentioned data of storing as range data with welding work pieces mother metal face is the range data of benchmark, by above-mentioned microcomputer, range data when for example the scanning of sensor shaven head being begun is regarded as to the range data of welding base metal face, from the range data of storage, this value is deducted in turn, just can easily try to achieve.Moreover integrating gear is that the data after the above-mentioned range data conversion are added up in turn, multiply by scale-up factor on the summation of gained, and the groove section that just can try to achieve welding work pieces is long-pending.This is easy to realize by above-mentioned microcomputer.
Secondly, in microcomputer, carry out the program of above-mentioned range data being got in turn difference, just can detect the gap amplitude and the center, gap of groove, this center, gap is exactly the sealing wire position.
Also have, do not have the bevel for welding in above-mentioned gap, will regard that the sealing wire position also just is easy to detect sealing wire as corresponding to the peaked position in the range data as for those.Just, owing to consider also and might cause the mistake of sealing wire position to detect,, must make repeatedly data and read and get its mean value, or adopt the majority logic algorithm and the program that unilaterally determines so detect when handling at sealing wire because of grit or spatter.
As mentioned above, because device of the present invention can be in non-contacting mode, high precision, detect the sectional area of bevel for welding at a high speed, so as long as add the program of the microcomputer of its inscape, just can easily detect sealing wire and groove gap amplitude, become the very high contrive equipment of industrial practicality.
The present invention has following feature and positive effect compared with the prior art:
(1) can be with non-contacting mode high precision, detect the bevel for welding sectional area at high speed, and be not subjected to the influence of grit in the groove and spatter etc.
(2) owing to be the sensing of noncontact,, be useful as the robotization of groove welding, the sensor of robotization so relaxed the restriction on the sensing.
(3) pass through additional program when calculating the bevel for welding sectional area, also can side by side detect sealing wire.
(4) as long as detect the bevel for welding sectional area, carry out control, just can improve welding quality welding condition.In addition, detect with sealing wire and to handle combinedly, implement the imitation sealing wire simultaneously and handle, just more can improve welding quality.
The description of the drawings:
Fig. 1 is the sectional drawing of an example of groove workpiece,
Fig. 2 is the front view (FV) that the contact groove section of prior art amasss an example of detection device,
Fig. 3 is the block scheme of an embodiment of apparatus of the present invention,
Fig. 4 is the synoptic diagram according to the groove range data test example of apparatus of the present invention.
Followingly device of the present invention is illustrated according to an embodiment shown in Figure 3.Light projector device is by comprising semicondcutor laser unit and the light projector 6 for the collimation lens of the parallel beam of 0.4mm φ is gone into=830nm) concentrated to its laser (, and the modulation that on semicondcutor laser unit, applies 10KHz, 8 formations of laser drive circuit (control circuit for light source) that make the light income on the sensor 7 carry out fader control definitely.Infrared rays receiver is then by light collecting lens 9 and be covered in the interference filter that sees through above-mentioned semiconductor laser light and (can see through wavelength go into=7 formations of semiconductor position detecting element (PSD) of 800～850nm) surface coating.Sensor shaven head 10 is made of above-mentioned light projector, infrared rays receiver.In this optical system, luminous point 11 by the knot picture on PSD, because the axial displacement of light projector of luminous point is corresponding to the knot image position displacement of the luminous point picture on the PSD7, so, just can detect to the distance between the workpiece face as long as detect luminous point image position on the PSD7.The detection device of luminous point image position comprises the photocurrent output (I that two electrodes from PSD7 are flowed out
1, I
2) (this determines their ratio according to the knot image position) be transformed to magnitude of voltage (V
1, V
2) current-voltage conversion circuit 12, Q=7, the bandpass filter 13 of 10KHz is obtained the output (V of bandpass filter 13
1', V
2') and with difference and differ from divided by with the computing circuit 14 of division.These circuit 12,13,14 can constitute easily by operational amplifier etc.Scanister comprises the carriage 15 that is made of pulse motor and screw rod and carries out the scanning motor control circuit 16 of pulse motor control, so that above-mentioned sensor shaven head 10 is scanned, scanning with the slightly rectangular direction of sealing wire on carry out, pitch is 0.1mm, sweep amplitude is 30mm, and sweep velocity is 2 times/second.Range data conversion memory storage is set the circuit (microcomputer) 17 of pulse in each scanning pitch (0.1mm) according to the signal of above-mentioned pulse motor control circuit 16, synchronously the A/D conversion is carried out in the output of foregoing circuit 14 with the output of foregoing circuit 17, and the result is stored in the storer.This circuit 17 and then with reference to output of indication circuit 14 (measure in advance and be stored in the ROM) and the range conversion table of sensor shaven head to the relation of the distance of workpiece face, this A/D transformed value is transformed into range data (Z(i of Fig. 4)), and it is stored in (this can be by having the microcomputer of A/D conversion function, and for example INTEL8022 waits and realized) in the reservoir.Moreover be transformed into mother metal face 18(Fig. 4 with welding work pieces) be reference field range data the range data converting means and with the integrating gear of this range data integration, similarly, can easily reach by circuit 17.For example, Fig. 4 18 shown in workpiece mother metal face, at range data Z(i) difference value be that zero place is detected haply, will be at this position Z(i) as Z
TABAnd obtain in advance, as long as from above-mentioned Z(i) deduct this Z
TAB, just can obtain with above-mentioned workpiece mother metal face is the range data ZK(i of the groove of benchmark).As for the calculating of sectional area, then with this ZK(i) i=1 to 300 0.1(that (promptly being integration) multiply by as scale-up factor that adds up be about to the 0.1mm pitch as 1mm unit) just can try to achieve.In the present embodiment, these computings are carried out with microcomputer, can certainly carry out with mimic channel.In the present embodiment, become under the situation of irregular and pad difference even in groove, have grit, spatter, tacking welding bead, also can groove section is long-pending, with 2% with interior precision, at a high speed (2 times/second) detect.
Moreover the circuit 8 of Fig. 3 is owing to the output (I with PSD7
1, I
2) be transformed into the in addition full-wave rectification and the addition of value of voltage, and make comparisons with reference voltage, thus the output of control semiconductor laser, the light income that makes PSD7 is for certain, so just be easy to constitute with operational amplifier etc.
Claims (1)
1, a bevel for welding sectional area pick-up unit, comprise: by luminous point being projeced into the light projector device on the welding work pieces and will being projeced into the infrared rays receiver of the some reflection of light light-receiving on the said welding work pieces and the sensor device that constitutes, it is characterized in that this sectional area pick-up unit is provided with the luminous point image position detection device of the luminous point image position of calculating said infrared rays receiver; With said sensor device along the scanister that scans on the sealing wire with said welding work pieces meets at right angles direction haply; The range data memory storage that to store as range data in the output of the said luminous point image position detection device of each pitch of said scanning; With the data conversion of storage for based on the range data converting means of the range data of the mother metal face of said welding work pieces and with the output integration of said range data converting means integrating gear with the sectional area of obtaining said welding work pieces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 85106473 CN1006935B (en) | 1985-08-29 | 1985-08-29 | Apparatus for measuring the cross-section area of welded grooves |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 85106473 CN1006935B (en) | 1985-08-29 | 1985-08-29 | Apparatus for measuring the cross-section area of welded grooves |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN85106473A CN85106473A (en) | 1987-03-18 |
| CN1006935B true CN1006935B (en) | 1990-02-21 |
Family
ID=4795098
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 85106473 Expired CN1006935B (en) | 1985-08-29 | 1985-08-29 | Apparatus for measuring the cross-section area of welded grooves |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1006935B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100200204B1 (en) * | 1996-11-18 | 1999-06-15 | 윤종용 | Vision treatment and vision sensor for auto arc welder |
| CN102645182B (en) * | 2012-04-17 | 2014-08-13 | 杭州电子科技大学 | Surface profile scanning type workpiece precut part weighing device |
| KR101944493B1 (en) * | 2016-10-26 | 2019-04-17 | 에이피시스템 주식회사 | Method for calculating cross-sectional area |
| CN108971706A (en) * | 2018-09-28 | 2018-12-11 | 广船国际有限公司 | A kind of flat butt welding method of slab |
| CN109623223A (en) * | 2019-02-02 | 2019-04-16 | 河北宏龙环保科技有限公司 | Pipeline groove detection method |
| CN109967834B (en) * | 2019-05-09 | 2021-06-01 | 湘潭大学 | Welding seam tracking method based on point laser distance sensor |
| CN110595363A (en) * | 2019-08-21 | 2019-12-20 | 广州幻境科技有限公司 | Three-dimensional virtual modeling method, system, device and storage medium |
-
1985
- 1985-08-29 CN CN 85106473 patent/CN1006935B/en not_active Expired
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| Publication number | Publication date |
|---|---|
| CN85106473A (en) | 1987-03-18 |
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