CN101655705B - Intelligent camera based method and intelligent camera based device for automatically tracking butt weld of thin plate - Google Patents
Intelligent camera based method and intelligent camera based device for automatically tracking butt weld of thin plate Download PDFInfo
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- CN101655705B CN101655705B CN2008101187382A CN200810118738A CN101655705B CN 101655705 B CN101655705 B CN 101655705B CN 2008101187382 A CN2008101187382 A CN 2008101187382A CN 200810118738 A CN200810118738 A CN 200810118738A CN 101655705 B CN101655705 B CN 101655705B
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Abstract
The invention provides an intelligent camera based method and an intelligent camera based device for automatically tracking butt weld of a thin plate, which acquire a butt weld image by the intelligent camera and control a stepping motor to drive deflection of a welding gun by a programmable controller so as to realize automatic tracking of the welding gun on the butt weld. In a welding process, the welding gun and the intelligent camera move forward at uniform velocity along the butt weld direction. The intelligent camera is arranged on the front part of the welding gun, carries out filter and butt weld extraction for the acquired image, and outputs the position of the butt weld to the programmable controller. The programmable controller controls positive and negative rotation of the stepping motor according to the current position and an expected position of the butt weld so as to drive the welding gun to move left and right, ensure that a welding wire is on the expected position of the butt weld, and realize that the welding gun can perform welding operation along the butt weld accurately. The method and the device can improve the accuracy and reliability of butt weld tracking, and can realize automatic accurate tracking on the butt narrow weld of the thin plate so as to meet the requirement of automatic welding of thin plate butting.
Description
The technical field is as follows:
the invention relates to the technical field of thin plate welding, in particular to a method and a device for automatically tracking a butt-jointed welding seam of a thin plate based on an intelligent camera, which belongs to the field of welding seam tracking in the field of robot vision control.
Technical background:
the traditional welding seam visual tracking adopts structured light visual measurement welding seams, namely, point or linear structured light is projected on the surface of a workpiece, and the transverse section outline of the welding seam is obtained through calculation by a triangulation method (see Wulin, Chen-Min, intelligent welding technology, pages 210-211, pages 215-217, Beijing: national defense industry Press, 1999'; see "Xude, Tansmin, Liyuan, robot visual measurement and control, page 133, Beijing: national defense industry Press, 2008"). The structured light welding seam measuring method is suitable for measuring welding seams with obvious transverse profile profiles, such as V-shaped groove welding seams, lap welding seams and the like. However, in the case of a thin plate butt weld, since the weld is too narrow, it is difficult to distinguish the weld from the workpiece by structured light measurement. Therefore, the conventional structured light vision measurement is not suitable for the measurement of the thin plate butt narrow weld.
The traditional visual tracking of welding seams adopts a computer to form a control system, and the control system has large volume and poor reliability (see Wulin, Chen-Ming-Ben, intelligent welding technology, page 226, Beijing: national defense industry Press, 1999).
One of the defects of the existing welding seam visual tracking technology is that the transverse section outline of the welding seam needs to be obtained, and the welding seam with the unobvious transverse section outline cannot be considered; the other defect is that the control system is large in size and poor in reliability due to the adoption of computer control.
The invention content is as follows:
the invention aims to provide a method and a device for automatically tracking a sheet butt weld based on an intelligent camera, which can overcome the defects of the prior art and improve the accuracy and reliability of tracking the butt weld during welding of sheets.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a sheet butt weld tracking method based on an intelligent camera comprises the following steps:
A) fixedly mounting an intelligent camera on the side surface of the welding gun, and aligning the intelligent camera with a welding wire and sheet butt welding joint connecting area;
B) the intelligent camera, the touch screen and the stepping motor driver are respectively in two-way communication connection with the programmable controller;
C) collecting a natural image of a welding seam by using an intelligent camera, processing the welding seam image, giving a welding seam position, and sending data to a programmable controller;
D) inputting parameters through a touch screen and displaying the tracking error of the welding line;
E) and then the programmable controller drives a stepping motor driver according to the data of the intelligent camera, and controls a stepping motor to drive a transverse bracket on a transverse shaft to be adjusted electrically so that a welding gun and a welding wire move along the horizontal direction vertical to the butt welding seam of the thin plates, thereby ensuring the accuracy and reliability of welding.
The method is characterized in that the welding seam position is calculated by taking a welding seam straight line as a characteristic.
The device used by the method comprises a fixed frame, an adjusting mechanism, a welding gun bracket, a welding gun, a stepping motor and a power supply; wherein,
the fixed frame is arranged on the welding machine, and the adjusting mechanism is fixedly connected with the lower end of the fixed frame; the adjusting mechanism comprises three moving shafts, wherein a manual adjusting transverse shaft, a manual adjusting vertical shaft and an electric adjusting transverse shaft are arranged in the adjusting mechanism; the two manual adjusting shafts are installed in a relative orthogonal mode, hand wheels are arranged at one ends of the two manual adjusting shafts respectively, and the two manual adjusting shafts are used for manually adjusting the height and the horizontal position of the welding gun and the camera respectively; the electric adjusting transverse shaft and the manual adjusting transverse shaft are horizontally arranged in parallel, the output end of the stepping motor is fixedly connected with one end of the electric adjusting transverse shaft, a transverse bracket is fixedly arranged on the electric adjusting transverse shaft in the lateral direction, and the transverse bracket and the electric adjusting transverse shaft move together;
the lower side of the transverse bracket extends downwards in parallel to form two brackets, namely a welding gun bracket and an intelligent camera bracket;
the lower end of the welding gun bracket is provided with a welding gun clamp, a welding gun is detachably and fixedly connected in the welding gun clamp, the upper end of the welding gun is connected with a welding gun pipeline, and the lower end of the welding gun is connected with a welding wire; the lower end of the intelligent camera support is fixedly connected with an intelligent camera, the intelligent camera is provided with an illumination light source, and the intelligent camera is positioned on the side surface of the welding gun, has the same height with the welding gun and is aligned with the lower end area of the welding wire;
the electric adjusting transverse shaft is used for automatically adjusting the horizontal positions of the welding gun and the camera in the welding seam tracking process;
the stepping motor is electrically connected with the stepping motor driver;
the intelligent camera, the stepping motor driver and the touch screen are respectively and electrically connected with the programmable controller and carry out two-way communication;
the power supply supplies power to the intelligent camera, the touch screen, the programmable controller and the stepping motor driver.
The illumination light source of the device is an annular light source arranged around the lens of the intelligent camera.
The invention has the outstanding characteristics that the intelligent camera is adopted to collect and process the welding seam image and give the welding seam position; a programmable controller is adopted to control a stepping motor to drive a welding gun to shift transversely; and inputting parameters and displaying the tracking error by adopting a touch screen. The invention has another outstanding characteristic that the natural image of the welding seam is collected, and the welding seam position is calculated by taking the welding seam straight line as the characteristic.
According to the method, the welding seam with an unobvious transverse profile can be tracked without obtaining the transverse profile of the welding seam; the invention adopts the intelligent camera to collect and process the welding seam image, does not need to adopt the traditional computer, reduces the volume of the control system and improves the reliability.
Experiments prove that the method can realize the tracking of the butt narrow weld joint of the thin plates and can meet the requirement of automatic butt welding of the thin plates.
Description of the drawings:
fig. 1 is a schematic structural diagram of an intelligent camera-based automatic sheet butt weld tracking device according to the present invention.
FIG. 2 is a schematic diagram of a control system of the intelligent camera-based automatic sheet butt weld tracking device.
The specific implementation mode is as follows:
the invention discloses an automatic sheet butt weld tracking device based on an intelligent camera, which consists of 3 adjusting shafts and a part of brackets, and is shown in the attached drawing 1. The 1 st axis is a manual adjusting transverse axis 9, is provided with a transverse axis hand wheel 2 and is used for manually adjusting the position of the welding gun 6 along the horizontal direction perpendicular to the welding seam, namely, adjusting the left and right positions of the welding gun 6, so that the welding wire 7 is positioned on the welding seam. The 2 nd shaft is a manual adjusting vertical shaft 8 and is provided with a vertical shaft hand wheel 1 for manually adjusting the position of the welding gun 6 along the vertical direction perpendicular to the welding seam, namely, adjusting the height of the welding gun 6. The 3 rd axis is a transverse electric adjusting transverse axis 10 and is provided with a stepping motor 3 for automatically adjusting the position of the welding gun 6 along the horizontal direction vertical to the welding seam, namely for automatically tracking the welding seam. The manual adjustment vertical shaft 8 is arranged on a slide block of the manual adjustment transverse shaft 9, and the electric adjustment transverse shaft 10 is arranged on a slide block of the manual adjustment vertical shaft 8. A transverse bracket 11 is arranged on a slide block of the electric adjusting transverse shaft 10, and a welding gun bracket 12 and a camera bracket 13 are arranged below the electric adjusting transverse shaft. The camera holder 13 is in front of the welding gun holder 12 in the forward direction 16. The tail end connecting rod of the welding gun support 12 is connected with a welding gun clamp 5 and used for clamping a welding gun 6. The lower end of the welding gun 6 is provided with a welding wire 7, and the upper end is provided with a welding gun pipeline 4. On the distal end face of the camera holder 13, an intelligent camera 14 and an illumination light source 15 are mounted. The illumination light source 16 is installed around the lens of the smart camera 14, and illuminates the weldment in the field of view of the smart camera 14. The transverse support 11, the welding gun support 12, the camera support 13, the welding gun clamp 5, the welding gun 6, the welding wire 7, the welding gun pipeline 4, the intelligent camera 14 and the illumination light source 15 move together with the sliding block of the electric adjusting transverse shaft 10. The welding gun 6 and the intelligent camera 14 have a fixed position relation.
The welding seam tracking device of the invention is composed of an intelligent camera 14, a touch screen 18, a programmable controller 19, a stepping motor driver 20, a stepping motor 3, a switching power supply 17 and the tracking adjusting mechanism, and is shown in figure 2. The smart camera 14 is connected to the programmable controller 19 through a serial port, and the touch screen 18 is connected to the programmable controller 19 through another serial port. The touch screen 18 is used for parameter input and display of tracking errors. The programmable controller 19 outputs two signals, a motion pulse signal and a motion direction signal, to the stepping motor driver 20. The drive output of the stepping motor driver 20 is directly connected to the input signal terminal of the stepping motor 3 by a wire. The switching power supply 17 is used for supplying power to the intelligent camera 14, the touch screen 18, the programmable controller 19 and the stepping motor driver 20.
The invention adopts the intelligent camera 14 to filter and extract the welding seam of the collected image, and outputs the welding seam position to the programmable controller 19. The programmable controller 19 controls the forward and reverse rotation of the stepping motor 3 through the stepping motor driver 20 according to the current position and the expected position of the welding seam, so as to drive the welding gun 6 to move left and right, so that the welding wire 7 is positioned at the expected welding seam position, and the welding operation of the welding gun 6 along the welding seam accurately is realized.
Examples
Please refer to fig. 1. In an embodiment, a weld tracking mechanism is fabricated as shown in FIG. 1. Please refer to fig. 2. The control system hardware of the welding seam tracking device consists of a programmable controller 19, a touch screen 18, an intelligent camera 14, a stepping motor driver 20, a stepping motor 3 and a switching power supply 17. In the embodiment, the programmable controller 19 is an OMRON CP1H-X40DT-D in Japan, the touch screen 18 is an MPT5-MG00B touch screen, the intelligent camera 14 is an intelligent camera VC4068 made by Germany, the stepping motor 3 is a 56BYG250D two-phase hybrid stepping motor in Hard, and the stepping motor driver 20 is a SH-20403 two-phase hybrid stepping motor in Hard. The programmable controller 19 has two serial ports, one for connecting with the touch screen 18 and the other for connecting with the smart camera 14. The high-speed pulse output terminal and the moving direction terminal of the programmable controller 19 are connected to the stepping motor driver 20. The drive output of the stepping motor driver 20 is directly connected to the input signal terminal of the stepping motor 3 by a wire.
Practical application of the embodiment proves that the method is convenient to implement, can realize automatic tracking of the thin plate butt narrow welding line, and can meet the requirement of automatic welding of thin plate butt.
Claims (3)
1. The automatic sheet butt weld tracking method based on the intelligent camera is characterized by comprising the following steps of:
A) fixedly mounting an intelligent camera in front of a welding gun, and aligning the intelligent camera with a welding wire and sheet butt welding joint area;
B) the intelligent camera, the touch screen and the stepping motor driver are respectively in two-way communication connection with the programmable controller;
C) collecting a natural image of a welding seam by using an intelligent camera, processing the welding seam image, giving a welding seam position, and sending data to a programmable controller;
D) inputting parameters through a touch screen and displaying the tracking error of the welding line;
E) driving a stepping motor driver by using a programmable controller according to the data of the intelligent camera, and controlling a stepping motor to drive a transverse bracket on a transverse shaft to be adjusted in a power-driven manner so as to enable a welding gun and a welding wire to move along the horizontal direction vertical to the butt welding seam of the thin plate, thereby ensuring the accuracy and reliability of welding;
and the welding seam position is calculated by taking the welding seam straight line as a characteristic.
2. An apparatus for use in the method of claim 1, comprising a holder, an adjustment mechanism, a torch support, a torch, a stepper motor, a power source; it is characterized in that the preparation method is characterized in that,
the fixed frame is arranged on the welding machine, and the adjusting mechanism is fixedly connected with the lower end of the fixed frame; the adjusting mechanism comprises three moving shafts, wherein a manual adjusting transverse shaft, a manual adjusting vertical shaft and an electric adjusting transverse shaft are arranged in the adjusting mechanism; the two manual adjusting shafts are installed in a relative orthogonal mode, hand wheels are arranged at one ends of the two manual adjusting shafts respectively, and the two manual adjusting shafts are used for manually adjusting the height and the horizontal position of the welding gun and the camera respectively; the electric adjusting transverse shaft and the manual adjusting transverse shaft are horizontally arranged in parallel, the output end of the stepping motor is fixedly connected with one end of the electric adjusting transverse shaft, a transverse bracket is fixedly arranged on the electric adjusting transverse shaft in the lateral direction, and the transverse bracket and the electric adjusting transverse shaft move together;
the lower side of the transverse bracket extends downwards in parallel to form two brackets, namely a welding gun bracket and an intelligent camera bracket;
the lower end of the welding gun bracket is provided with a welding gun clamp, a welding gun is detachably and fixedly connected in the welding gun clamp, the upper end of the welding gun is connected with a welding gun pipeline, and the lower end of the welding gun is connected with a welding wire; the lower end of the intelligent camera support is fixedly connected with an intelligent camera, the intelligent camera is provided with an illumination light source, and the intelligent camera is positioned on the side surface of the welding gun, has the same height with the welding gun and is aligned with the lower end area of the welding wire;
the electric adjusting transverse shaft is used for automatically adjusting the horizontal positions of the welding gun and the camera in the welding seam tracking process;
the stepping motor is electrically connected with the stepping motor driver;
the intelligent camera, the stepping motor driver and the touch screen are respectively and electrically connected with the programmable controller and carry out two-way communication;
the power supply supplies power to the intelligent camera, the touch screen, the programmable controller and the stepping motor driver.
3. The apparatus of claim 2, wherein the illumination source is a ring light source mounted around a lens of the smart camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2008101187382A CN101655705B (en) | 2008-08-20 | 2008-08-20 | Intelligent camera based method and intelligent camera based device for automatically tracking butt weld of thin plate |
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| CN2008101187382A CN101655705B (en) | 2008-08-20 | 2008-08-20 | Intelligent camera based method and intelligent camera based device for automatically tracking butt weld of thin plate |
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| CN101655705A CN101655705A (en) | 2010-02-24 |
| CN101655705B true CN101655705B (en) | 2011-06-29 |
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| CN101870030A (en) * | 2010-06-29 | 2010-10-27 | 哈尔滨工业大学 | Device and method for detecting visual reverse molten pool images in aluminum alloy TIG welding with additional auxiliary light source |
| CN102179598B (en) * | 2011-03-31 | 2013-05-01 | 中国科学院自动化研究所 | Method and device for centering initial welding positions of flat narrow welding lines and tracking welding lines |
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| US10543551B2 (en) * | 2013-09-16 | 2020-01-28 | Illinois Tool Works Inc. | Synchronized rotating arc welding method and system |
| US10953484B2 (en) | 2013-09-16 | 2021-03-23 | Illinois Tool Works Inc. | Narrow groove welding method and system |
| CN103878789A (en) * | 2014-04-10 | 2014-06-25 | 太仓斯普宁精密机械有限公司 | Image acquisition mechanism of precise welding robot |
| CN105479029B (en) * | 2015-12-30 | 2018-05-25 | 中北大学 | A kind of automatic Tracking monitoring system of straight welding machine |
| CN106996741A (en) * | 2017-03-24 | 2017-08-01 | 南通大学 | Three-dimensional postwelding weld stress processing system based on machine vision |
| CN107717184A (en) * | 2017-10-13 | 2018-02-23 | 中广核研究院有限公司 | A kind of Underwater Welding system test platform |
| CN109243284A (en) * | 2018-10-31 | 2019-01-18 | 西安长峰机电研究所 | A kind of aluminium alloy sheet welding weld seam teaching type autotracker |
| CN114451641B (en) * | 2022-01-05 | 2022-10-14 | 云码智能(海南)科技有限公司 | Intelligent bracelet, auxiliary welding device and method |
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