CN102922094A - Ultra-small size welding seam tracking method based on heat input - Google Patents
Ultra-small size welding seam tracking method based on heat input Download PDFInfo
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- CN102922094A CN102922094A CN201210380917XA CN201210380917A CN102922094A CN 102922094 A CN102922094 A CN 102922094A CN 201210380917X A CN201210380917X A CN 201210380917XA CN 201210380917 A CN201210380917 A CN 201210380917A CN 102922094 A CN102922094 A CN 102922094A
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Abstract
The invention relates to an ultra-small size welding seam tracking method based on heat input. The method comprises the following steps of: obtaining coordinate data at starting and ending positions of the center of a butt joint of an ultra-thin and fine weldment through a BOA intelligent camera; transmitting the coordinate data to a DSP processor; obtaining real-time position coordination data of the center of the butt joint of the ultra-thin and fine weldment through the BOA intelligent camera; through calculation, outputting a signal for controlling rotation direction and rotation angle of a stepping motor; controlling the stepping motor under the driving of a stepping motor driving board; through the stepping motor, driving a welding gun fixed on a translational platform to track the central position of a welding seam of an ultra-thin and fine precise structural piece for welding; enabling the welding gun to advance forwards; controlling heat input of the welding through controlling welding speed; and displaying real-time speed of the welding gun by using MAX7912. According to the invention, high-quality welding of a 0.1 mm stainless steel thin plate can be preferably achieved; and high control precision as well as stability and reliability in working are achieved.
Description
Technical field
The present invention relates to the welding automatization technology field, specifically a kind of extra small yardstick welding seam tracking method based on the heat input.
Background technology,
In the welding process; actual welding condition often can change; the impact of various factors can make welding torch depart from weld seam; thereby cause welding quality to descend even failure; especially butt welded seam welds under extra small yardstick, and difficulty is larger, and the sweating heat input control is improper; be easy to cause ultra-thin fine texture spare to burn, be out of shape, cause welding unsuccessfully.
Extra small yardstick weld joint tracking is exactly that the ultra-thin thin fine structure part of thickness below 0.1mm carried out weld joint tracking.Ultra-thin thin fine structure part is carried out the weld joint tracking difficult point:
1) how to find weld seam.During the docking of two ultra-thin thin fine structure parts (thickness is below 0.1mm) material, the size of banjo fixing butt jointing is about 100um through demarcation, even less, how to find the weld seam center, is to realize primarily putting the axe in the helve of extra small yardstick weld joint tracking.
2) how to tell weld seam.The size of banjo fixing butt jointing is about 100um through demarcation, even less, if have unexpected cut at extra small yardstick (thickness is below 0.1mm) material, and the yardstick of cut is about 20um through demarcation, even larger, when the yardstick of cut during near the yardstick of banjo fixing butt jointing, how to tell weld seam, reject the impact of cut, this is an another difficult problem that realizes that extra small yardstick weld joint tracking need to solve.
3) size of banjo fixing butt jointing is about 100um through demarcation, even less, in the process of following the tracks of, the deviation that obtains the weld seam center can be less, fully might be in the 10um level, how to realize adjusting so accurately, this is to the requirement of workbench and guiding mechanism and control system unusual height all.
At present more when welding seam position information is extracted in research is to beat structured light, judges the position of weld seam by the shape of analytical structure light, but for the material of this extra small yardstick, beats structured light and lost its meaning.
Find through the literature search to prior art, weld the article that is entitled as " Development of a highly precise weld seam tracking system for YAG laser welding robot " that assistant rattan that one piece of Kawasaki, Japan heavy industry Co., Ltd. is arranged in national congress of the association speech summary etc. is delivered at " Japan Welding Society " the 69th collection (2001-10), introduce a kind of high accuracy seam tracking system of the welding 0.6mm copper coin of developing the YAG laser welding robot in the literary composition, tracking accuracy is about ± 0.1mm.How Shanghai University Of Engineering Science builds " a kind of welding method for micro-plasma arc welding of pure titanium foil " (application number: 201010101229.6) of people's inventions such as duckweed, though realized the high-quality welding to the nothing of ultra-thin pure titanium foil is burnt, nothing is out of shape, but the centering of welding gun and pure titanium foil weld seam is by manually adjusting, and is time-consuming and to adjust precision not high.By result for retrieval as can be known, the correlation technique of thickness welding seam tracking method of extra small yardstick below 0.1mm yet there are no report.
Summary of the invention
The object of the invention is to overcome existing THE WELD SEAM TRACKING TECHNOLOGY, disappearance aspect ultra-thin thin accurate weldment, utilize the BOA smart camera to obtain the welding seam position information of ultra-thin fine texture spare, control the sweating heat input quantity by the dsp processor control welding gun speed of travel, direction of rotation and the anglec of rotation of stepper motor on the control electronic control translation stage, on the basis of micro-plasma arc welding, a kind of extra small yardstick welding seam tracking method based on the heat input is proposed, its step is as follows:
1, finishes the integrated of whole seam tracking system at tooling platform, comprise the installation (as shown in Figure 1) of BOA smart camera, dsp processor, interface expansion board, stepper motor drive plate, two groups of electronic control translation stages, welding gun.
2, the collection of ultra-thin fine texture spare weld image, processing and data transmission scheme are set in the BOA smart camera, in dsp processor, fire compiled system control program.
3, to system the primary action after powering on allow welding gun rest on the jig center directly over.
4, seek start position and the final position of ultra-thin thin fine structure part weld seam and record the coordinate of weld seam center.
5, smart camera is taken the image information of the real time position of weld seam, transmit the weld seam center position coordinates after processing to dsp processor, the pulse signal of dsp processor output control step motor direction of rotation and the anglec of rotation drives the control step motor by the stepper motor drive plate.
6, stepper motor swing roller leading screw drives welding gun and adjusts in real time and aim at the weld seam center and weld, and welding gun is advanced forward simultaneously, and the size control sweating heat input quantity by control welding gun gait of march shows the real-time speed that welding gun is advanced with MAX7912.
Then repeat 5,6 until the welding end.
A kind of extra small yardstick welding seam tracking method based on the heat input that the present invention proposes has improved welding quality, has saved weld interval and cost, is conducive to industry and promotes.Break through the application of conventional THE WELD SEAM TRACKING TECHNOLOGY, opened up the application market of THE WELD SEAM TRACKING TECHNOLOGY on ultra-thin thin precision part.
Description of drawings
Fig. 1 is a kind of extra small yardstick welding seam tracking method apparatus structure schematic diagram based on the heat input of the present invention;
Fig. 2 is a kind of extra small yardstick welding seam tracking method FB(flow block) based on the heat input of the present invention.
Reference numeral number explanation
1-DSP processor 2-expansion interface plate 3-stepper motor drive plate 4-the first electronic control translation stage 5-the second electronic control translation stage 6-frock walking mechanism 7-frock ultra-thin fine texture spare of platform 8-BOA smart camera 9-welding gun 10-that is installed
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples
A kind of extra small yardstick welding seam tracking method (as shown in Figure 2) based on the heat input of the present invention comprises the steps:
1, finishes the integrated of whole seam tracking system at tooling platform, comprise BOA smart camera, dsp processor, interface expansion board, stepper motor drive plate, two groups of electronic control translation stages and welding gun; Each group electronic control translation stage comprises stepper motor and ball screw translation stage; The BOA smart camera is fixed on the welding gun, and the BOA smart camera is in the dead ahead of welding gun along welding direction, and the position is adjustable up and down; The first electronic control translation stage horizontal direction is fixed on the walking mechanism of existing fixture system, and the table top of the first electronic control translation stage is perpendicular to the table top of the platform that is installed of tooling platform, the second electronic control translation stage vertical direction is installed on the table top of the first electronic control translation stage, equally, the table top of the second electronic control translation stage is perpendicular to the table top of the platform that is installed of tooling platform, the installation site of two groups of electronic control translation stages and height are decided according to the space structure of tooling platform and the imaging object distance of BOA smart camera, two groups of electronic control translation stages intersection at right angle settings; Welding gun is fixed on the table top of the second electronic control translation stage of vertical direction; Dsp processor is installed on the interface expansion board, and the BOA smart camera is connected with dsp processor through the expansion interface plate by the LAMP line and carries out the asynchronous serial port communication; The BOA smart camera has two inputs, one is to trigger the input of trigger signal, one is IN0 high level signal input, and the BOA smart camera receives the triggering trigger signal of dsp processor and to the high level signal of BOA smart camera IN0 by I/O PWR line through the expansion interface plate; Stepper motor drive plate one end is connected the other end through the expansion interface plate and is connected with two groups of electronic control translation stages with dsp processor, described dsp processor is TMS320DSPF2812 minimum system plate.
2, in the BOA smart camera, set up the collection of ultra-thin fine texture spare weld image, processing and data asynchronous serial port communication scheme by embedded software iNspectExpress, transmit such as the data after identification, acquisition and processing and the processing of the control of secondary light source, ultra-thin thin fine structure part banjo fixing butt jointing image information; Fire the program that the whole seam tracking system of compiled control operates in dsp processor, debug system achieves the real-time task distribution of BOA smart camera and dsp processor and the asynchronous serial port communication of data; The BOA smart camera is built-in with central processing unit, digital signal processor and three processors of on-the-spot Programmadle logic door; BOA smart camera resolution ratio is 1280 * 960, and Pixel size is 3.7um.
3, according to the be installed position at jig center on the platform of the stroke of the installation site of electronic control translation stage and translation stage and frock, the action after powering on to system, first lifts welding gun by the cylinder on the frock walking mechanism; The first electronic control translation stage of fine setting is gone to behind the extreme position and is moved a segment distance S toward rightabout again about the second control, allow welding gun be parked in the jig center directly over; The 3rd depresses welding gun next by the cylinder on the frock walking mechanism.Apart from the stroke of S and the first electronic control translation stage, the relative position of translation stage and ball-screw and the frock position at jig center that is installed on the platform was relevant when the first electronic control translation stage was installed.The first electronic control translation stage and the second electronic control translation stage have respectively two extreme position switches.
4, on the tooling platform, at the two ends of the welding direction of jig near the inside of extreme position, draw in advance the white line of two vertical welding directions, when the start position of the ultra-thin thin fine structure part weld seam of tracking system Automatic-searching or final position, the BOA smart camera receives the triggering trigger signal of dsp processor, after finding white line by BOA smart camera coupling first, move toward rightabout again and continue start position and the final position that coupling is sought weld seam, until find, and the coordinate data of recording the weld seam center sends dsp processor to.
The position of described two white lines is fixed, preset two between white line distance and the length of weld seam, system only need find the starting point of weld seam or the terminal point of weld seam to get final product in when operation.
5, the BOA smart camera also receives dsp processor by I/O PWR line during to the high level signal of BOA smart camera IN0 when receiving the triggering trigger signal of dsp processor, the BOA smart camera is taken the image information of the real time position of ultra-thin thin fine structure part weld seam, the BOA smart camera sends weld seam center position coordinates data to dsp processor after real-time weld image is processed, dsp processor is according to upper spotweld center position coordinates data, in conjunction with BOA smart camera and welding gun at the x of deviation adjusting direction axle, mounting distance on the y axle of welding direction, through calculating, the pulse signal of output control step motor direction of rotation and the anglec of rotation drives the control step motor by the stepper motor drive plate.
6, stepper motor receives the pulse signal of dsp processor, rotate to the left or to the right the ball-screw certain angle of the first electronic control translation stage, and then the welding gun that drive is fixed on the second electronic control translation stage is adjusted in real time, weld the center that makes welding gun aim at thin thin fine structure part weld seam, simultaneously welding gun by the frock walking mechanism with advancing forward, by the input of control welding gun gait of march control sweating heat, show the real-time speed that welding gun is advanced with MAX7912.
Described welding method adopts micro-plasma arc welding, the control of sweating heat input size realizes by the control speed of welding, υ=L/ Δ, wherein υ is speed of welding, L is that the welding gun center is to the distance at BOA smart camera center, Δ t is the time interval of the double triggering of dsp processor BOA smart camera, and Δ t sets according to the size of heat input in system.
Then repeat 5,6 until the welding end.
Claims (4)
1. extra small yardstick welding seam tracking method based on heat input, finish the integrated of whole seam tracking system at tooling platform, comprise the installation of BOA smart camera, dsp processor, interface expansion board, stepper motor drive plate, two groups of electronic control translation stages, welding gun, it is characterized in that, also comprise step:
A. in the BOA smart camera, by embedded software iNspectExpress the collection of ultra-thin fine texture spare weld image, processing and data asynchronous serial port communication scheme are set, fire the program that the whole seam tracking system of compiled control operates in dsp processor, debug system achieves the real-time task distribution of BOA smart camera and dsp processor and the asynchronous serial port communication of data;
B. according to installation site and the stroke of translation stage and the position at jig center of two electronic control translation stages, after powering on to system, the first step is lifted welding gun by the cylinder on the frock walking mechanism;
The first electronic control translation stage of fine setting moves a segment distance S toward rightabout after going to extreme position again about second step control, allow welding gun be parked in the jig center directly over, apart from the stroke of S and the first electronic control translation stage, the relative position of translation stage and ball-screw and the frock position at jig center that is installed on the platform was relevant when the first electronic control translation stage was installed;
The 3rd depresses welding gun by the cylinder on the frock walking mechanism;
C. on the tooling platform, at the two ends of the welding direction of jig near the inside of extreme position, draw in advance the white line of two vertical welding directions, when the start position of the ultra-thin thin fine structure part weld seam of tracking system Automatic-searching or final position, the BOA smart camera receives the triggering trigger signal of dsp processor, after finding white line by BOA smart camera coupling first, move toward rightabout again and continue start position and the final position that coupling is sought weld seam, until find, and the coordinate data of recording the weld seam center is passed to dsp processor;
The position of described two white lines is fixed, preset two between white line distance and the length of weld seam, system only need find the starting point of weld seam or find the terminal point of weld seam to get final product in when operation;
The D.BOA smart camera also receives dsp processor by I/O PWR line during to the high level signal of BOA smart camera IN0 when receiving the triggering trigger signal of dsp processor, the BOA smart camera is taken the image information of the real time position of ultra-thin thin fine structure part weld seam, the BOA smart camera sends weld seam center position coordinates data to dsp processor after real-time weld image is processed, dsp processor is according to upper spotweld center position coordinates data, in conjunction with BOA smart camera and welding gun at the x of deviation adjusting direction axle, mounting distance on the y axle of welding direction, through calculating, the pulse signal of output control step motor direction of rotation and the anglec of rotation drives the control step motor by the stepper motor drive plate;
E. stepper motor receives the pulse signal of dsp processor, rotate to the left or to the right the ball-screw certain angle of the first electronic control translation stage, and then the welding gun that drive is fixed on the second electronic control translation stage is adjusted in real time, weld the center that makes welding gun aim at thin thin fine structure part weld seam, simultaneously welding gun by the frock walking mechanism with advancing forward, by the input of welding gun gait of march control sweating heat, show the real-time speed that welding gun is advanced with MAX7912;
F. repeat D-E until welding finishes.
2. a kind of extra small yardstick welding seam tracking method based on heat input as claimed in claim 1, it is characterized in that, described welding method is micro-plasma arc welding, the control of sweating heat input size realizes by the control speed of welding, υ=L/ Δ t, wherein υ is speed of welding, L is that the welding gun center is to the distance at BOA smart camera center, Δ t is the time interval of the double triggering of dsp processor BOA smart camera, and Δ t sets according to the size of heat input in system.
3. a kind of extra small yardstick welding seam tracking method based on heat input as claimed in claim 1, it is characterized in that, described BOA smart camera is applied to weld joint tracking, to the BOA smart camera be correlated with arrange and programming after, finish in the lump identification, the acquisition and processing to ultra-thin thin fine structure part weld image information and process after the asynchronous serial port communication of data.
4. a kind of extra small yardstick welding seam tracking method based on the heat input as claimed in claim 1 is characterized in that, described ultra-thin thin fine structure part size is less than 0.1mm, and its banjo fixing butt jointing size was at 28 ~ 86 μ m when the gapless high accuracy was installed;
The tracking accuracy of described extra small yardstick weld joint tracking is within the 5 μ m.
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Cited By (3)
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| CN104785899A (en) * | 2015-04-13 | 2015-07-22 | 杭州和良机电设备有限公司 | Automatic welding device and machining method thereof |
| CN104942411A (en) * | 2014-03-27 | 2015-09-30 | 株式会社神户制钢所 | Multi-electrode single-side submerged arc welding method |
| CN109514040A (en) * | 2018-12-07 | 2019-03-26 | 北京博清科技有限公司 | Welding gun tracking and welding robot of creeping |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104942411A (en) * | 2014-03-27 | 2015-09-30 | 株式会社神户制钢所 | Multi-electrode single-side submerged arc welding method |
| CN104942411B (en) * | 2014-03-27 | 2018-03-13 | 株式会社神户制钢所 | Multi-electrode one side buried arc welding method |
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| CN109514040A (en) * | 2018-12-07 | 2019-03-26 | 北京博清科技有限公司 | Welding gun tracking and welding robot of creeping |
| CN109514040B (en) * | 2018-12-07 | 2020-12-01 | 北京博清科技有限公司 | Welding gun tracking method and crawling welding robot |
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