CN102922114A - Micro-beam plasma arc welding fine tracking system for ultrathin and superfine structural member - Google Patents
Micro-beam plasma arc welding fine tracking system for ultrathin and superfine structural member Download PDFInfo
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- CN102922114A CN102922114A CN2012103809057A CN201210380905A CN102922114A CN 102922114 A CN102922114 A CN 102922114A CN 2012103809057 A CN2012103809057 A CN 2012103809057A CN 201210380905 A CN201210380905 A CN 201210380905A CN 102922114 A CN102922114 A CN 102922114A
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Abstract
The invention relates to a micro-beam plasma arc welding fine tracking system for an ultrathin and superfine structural member. The system comprises an expansion interface board 2, a stepping motor driving board 3, a first electrically controlled translation table 4, a second electrically controlled translation table 5, a tool traveling mechanism 6 and a tool clamping platform 7, and is characterized by also comprising a BOA intelligent camera 8 fixed on a welding gun 9, and a digital signal processor (DSP) 1 arranged on the expansion interface board 2; the expansion interface board 2 supplies power to the BOA intelligent camera 8, the DSP 1, the first electrically controlled translation table 4, the second electrically controlled translation table 5 and the stepping motor driving board 3; the welding gun 9 is fixed on the second electrically controlled translation table 5; and the first electrically controlled translation table 4 and the second electrically controlled translation table 5 are perpendicularly assembled in a cross mode. According to the system, real-time distribution and data communication between the BOA intelligent camera 8 and the DSP are innovatively realized, the ultrathin and superfine structural member is subjected to high-quality welding and high-precision control, and the operation is stable and reliable.
Description
Technical field
The present invention relates to meticulous seam tracking system technical field, specifically refer to a kind of meticulous tracking system of micro-plasma arc welding of ultra-thin fine texture spare.
Background technology
Now, in weld joint automatized tracking technique, be research emphasis and focus with the seam tracking system of visual sensing technology.Seam tracking system with the visual sensing technology is exactly by after the real-time condition imaging of vision sensor with weld seam, through corresponding image processing data are passed to control processor, after control processor is processed through signal, aim at the weld seam center by closed control circuit control motor to adjust welding torch position, to realize high-quality welding.Whole weld joint automatized tracking system mainly comprises weld image information gathering and processing section, real time signal processing control section, feedback control circuit part, motivation transfer motion part.
For can realize to any weld seam in all cases from motion tracking, this just requires tracking system to have higher intelligence, namely wants the crucial following problem that solves: 1, weld seam recognition and weld image information extraction; 2, image is processed in real time and is in time fed back; 3, real-time control system; 4, dynamic Control and precision adjustment.
Through the prior art literature search is analyzed, find existing tracking system, all or to the weld seam of large scale steel plate follow the tracks of, or tracking accuracy is not high.Propose in electron beam welding in " electron distributions formula welding seam tracking method and device " (application number 86106386) of Sun Naiwen, fourth training Fan, the electronic receiver that uses two mutual axisymmetric electronic sensors to make is received in the reflection electronic that the weld seam top produces, according to the density phase butt welded seam of reflection electronic whether symmetry judge whether centering of electron beam and weld seam, if asymmetric, adjusted until symmetrical, but this system is subject to the impact of external magnetic field and electric field, poor anti jamming capability causes tracking that deviation is arranged.Again, the people's such as Xiao Zengwen " multi-structured light binocular composite vision tracking and device " (application number: 200910024758) propose to take weld image information with two video cameras, the treated current ideal position of welding gun that calculates, obtain the difference with physical location, and convert the output of analog signal or radio communication to by controller, control welding gun correction motor, realize the purpose of soldering joint automatic tracking, this system adopts two video cameras, although tracking effect is pretty good, but the suspicion of the wasting of resources is arranged, also do not mention this system in the literary composition and can follow the tracks of ultra-thin fine texture spare, correlation technique also has no the other technologies document and discloses.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art and disappearance, a kind of meticulous tracking system of micro-plasma arc welding of ultra-thin fine texture spare is provided, by the BOA smart camera, can Real time identification and extract the weld image information of ultra-thin fine texture spare (size is less than 0.1mm); The employing dsp processor is control centre, utilizes its powerful data-handling capacity and the high speed of service to satisfy the requirement of real-time of whole system; By the control of stepper motor drive plate and driving high precision electric control translation stage, realize that the high accuracy FEEDBACK CONTROL of welding gun is adjusted, adjust precision up to the 10um level.
Technical solution of the present invention is as follows:
The meticulous tracking system of a kind of micro-plasma arc welding of ultra-thin fine texture spare comprises BOA smart camera, dsp processor, the first electronic control translation stage and the second electronic control translation stage (both form by stepper motor+ball screw translation stage), expansion interface plate, stepper motor drive plate; Expansion interface plate external power supply is through giving respectively BOA smart camera, dsp processor, the first electronic control translation stage and the second electronic control translation stage, the power supply of stepper motor drive plate after the corresponding transformation; Dsp processor is installed on the expansion interface plate; Welding gun is fixed on the table top of the second electronic control translation stage, and the BOA smart camera is fixedly mounted on the welding gun; The BOA smart camera, connect the expansion interface plate by I/O PWR interface, link to each other with dsp processor through the expansion interface plate by the LAMP interface, link to each other with host computer by LAN interface, realize the setting of BOA smart camera parameters and set up image processing and communication scheme, the BOA smart camera can disconnect being connected of LAN interface with host computer subsequently; The first electronic control translation stage and the second electronic control translation stage are fixed on the frock walking mechanism; The first electronic control translation stage be connected electronic control translation stage and connect the stepper motor drive plate by wire, the stepper motor drive plate connects the expansion interface plate by wire, the control signal that receives dsp processor is come Driving Stepping Motor and then Butt welding gun to carry out centering to adjust.
Description of drawings
Fig. 1 is one of the meticulous tracking system structure of the micro-plasma arc welding of a kind of ultra-thin fine texture spare of the present invention schematic diagram;
Fig. 2 is two schematic diagrames of the meticulous tracking system structure of the micro-plasma arc welding of a kind of ultra-thin fine texture spare of the present invention;
Fig. 3 is that the control circuit of the meticulous tracking system of micro-plasma arc welding of a kind of ultra-thin fine texture spare of the present invention connects block diagram.
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
Specific embodiments
The invention will be further described below in conjunction with drawings and Examples
The meticulous tracking system of micro-plasma arc welding of a kind of ultra-thin fine texture spare that the present invention proposes, adopting dsp processor 1 is control centre, obtain ultra-thin fine texture spare weld image information by BOA smart camera 8, obtain after treatment the weld seam centre coordinate, through the communication of LAMP interface asynchronous serial port to dsp processor 1, dsp processor 1 is through corresponding calculating, the output pulse is to stepper motor drive plate 3, stepper motor rotates according to deflection and offset distance information that pulse is carried, drive welding gun 9 and finely tune, make the ultra-thin fine texture spare of micro-beam plasma arc centering 10 weld seam centers.Described dsp processor 1 is TMS320DSPF2812 minimum system plate.
Actual conditions according to existing fixture system, BOA smart camera 8 is installed in through on the thick bakelite plate of the 6mm of particular design, the thick bakelite plate of 6mm is fixed on the welding gun 9 through the Al-alloy parts of band annular similar " K " shape of a particular design, and welding gun 9 is fixed on the second electronic control translation stage 5; BOA smart camera 8 adopts M1280, and resolution ratio is 1280 * 960, and Pixel size is 3.7um, fully can be to ultra-thin fine texture spare weld seam blur-free imaging; BOA smart camera 8 need not to install any image processing software except driver on computers, when arranging, link to each other with host computer by the ethernet lan line, pass through web browser, starting built-in iNspectExpress application program carries out quick-setting to BOA smart camera 8 and sets up image processing and communication scheme, after finishing, BOA smart camera 8 can disconnect LAN interface with host computer and be connected; Dsp processor 1 is installed on the expansion interface plate 2, and BOA smart camera 8 links to each other through expansion interface plate 2 by the LAMP line with dsp processor 1, and the triggering signal operating scheme that sends over by I/O PWR interface reception dsp processor 1 begins to detect.BOA intelligence is 8 built-in digital signal processor, central processing unit and three processors of field programmable gate array of being responsible for respectively optimized algorithm, management application, managing image sensor function mutually, can programme to realize desired function to it.
BOA smart camera 8 is crossed the communication of LAMP line asynchronous serial port to dsp processor 1 with the data communication device that the weld image information processing of ultra-thin fine texture spare obtains, dsp processor 1 is according to the data of BOA smart camera 8 feedbacks that receive, through calculating, the direction of rotation of output control step motor and the pulse signal of angle rotate through stepper motor drive plate 3 control step motors; Step motor control drive plate 3 not only can be finished the function of general drive plate, has also designed sub-circuit, can realize the more high-precision adjustment of electronic control translation stage.
Expansion interface plate 2 external power supplys are through giving respectively BOA smart camera 8, dsp processor 1, the first electronic control translation stage 4 and the second electronic control translation stage 5,3 power supplies of stepper motor drive plate after the corresponding transformation; The analog signal that BOA smart camera 8 and dsp processor are 1 and data communication and dsp processor 1 all pass through the photoelectric isolation module of expansion interface plate 2 for the pulse of stepper motor drive plate 3.
The first electronic control translation stage 4 and the second electronic control translation stage 5 intersection orthogonal sets are fitted together, the be installed work top of platform 7 of the base plane that requires the first electronic control translation stage 4 and the second electronic control translation stage 5 during installation and frock is vertical, the step motion of X, Y two-dimensional directional can be realized, the weld seam center that welding gun finely tunes to aim at ultra-thin thin weldment can be driven.When the horizontal central loading of the first electronic control translation stage 4 and the second electronic control translation stage 5 was identical, both any one horizontal positioned or vertically place that all it doesn't matter can both satisfy the requirement of system load; But when the horizontal central loading of the first electronic control translation stage 4 and the second electronic control translation stage 5 and vertical centre load not simultaneously, suppose that the horizontal central loading of the first electronic control translation stage 4 is greater than the horizontal central loading of the second electronic control translation stage 5, be also noted that when assembling the first electronic control translation stage 4 and the second electronic control translation stage 5: during assembling the base of the first large electronic control translation stage 4 of horizontal central loading is horizontally fixed on the frock walking mechanism 6, the second electronic control translation stage 5 is vertically fixed on the table top of the first electronic control translation stage 4; The table top of welding gun 9 and the second electronic control translation stage 5 is connected and fixed, and BOA smart camera 8 is fixed on the welding gun, and the fixed position is adjustable, guarantees BOA smart camera 8 imaging clearly when welding gun lifts and depress.The first electronic control translation stage 4 that the meticulous tracking system of the micro-plasma arc welding of this ultra-thin fine texture spare is selected and the second electronic control translation stage 5 are same model Hua Weihao profit A023, and the first electronic control translation stage 4 and the second electronic control translation stage 5 are respectively arranged with two extreme position switches.
The present invention has realized real-time task distribution and the data communication of BOA smart camera 8 with dsp controller 1 innovatively.Its butt-joint clearance size is at 28 ~ 86 μ m in the time of realizing well ultra-thin (0.1mm stainless sheet steel, 0.05mm titanium foil), the assembling of ultra-fine (silk screen of 0.2mm and following string diameter) gapless high accuracy, its tracking accuracy is the high-quality welding of 5 μ m structural members, control accuracy is high, and working stability is reliable.
Claims (5)
1. the meticulous tracking system of the micro-plasma arc welding of a ultra-thin fine texture spare, comprise expansion interface plate (2), stepper motor drive plate (3), the first electronic control translation stage (4) and the second electronic control translation stage (5), frock walking mechanism (6) and the frock platform (7) that is installed, it is characterized in that, also comprise being fixed on the upper BOA smart camera (8) of welding gun (9) and being installed in dsp processor (1) on the expansion interface plate (2);
Establish in the described BOA smart camera (8) respectively and to be responsible for that optimized algorithm, management are used, the managing image sensor function, finish in the lump ultra-thin, the acquisition and processing of super fine precision structural member weld image information and digital signal processor, central processing unit and three processors of field programmable gate array of realization and dsp processor (1) asynchronous serial port communication in conjunction with embedded graphical image process software iNspectExpress;
Serial ports pin RX, the TX of described BOA smart camera (8) is connected with dsp processor (1) asynchronous serial port communication through the LAMP line, and dsp processor (1) carries out the input and output of high-low level through I/O PWR line and BOA smart camera;
Described BOA smart camera (8) adopts M1280, and resolution ratio is 1280 * 960, and Pixel size is 3.7um;
Described BOA smart camera (8) disconnects the LAN mouth with host computer and is connected independent operating when work;
Described dsp processor (1) adopts DSP control chip TMS320DSPF2812 minimum system plate.
2. the meticulous tracking system of the micro-plasma arc welding of a kind of ultra-thin fine texture spare as claimed in claim 1, it is characterized in that, described the first electronic control translation stage (4) and the second electronic control translation stage (5) intersection at right angle setting, wherein the first electronic control translation stage (4) horizontal positioned is installed on the frock walking mechanism (6), the vertical placement of the second electronic control translation stage (5) is installed on the table top of the first electronic control translation stage (4), and the be installed work top of platform (7) of the table top of the first electronic control translation stage (4) and the second electronic control translation stage (5) and frock is vertical;
Described the first electronic control translation stage (4) and the second electronic control translation stage (5) form by stepper motor and ball screw, adopt Beijing Hua Weihao profit A023 type;
Described the first electronic control translation stage (4) and the second electronic control translation stage (5) are respectively arranged with two extreme position switches.
3. the meticulous tracking system of the micro-plasma arc welding of a kind of ultra-thin fine texture spare as claimed in claim 1, it is characterized in that, described expansion interface plate (2) external power supply is through giving respectively BOA smart camera (8), dsp processor (1), the first electronic control translation stage (4) and the second electronic control translation stage (5), stepper motor drive plate (3) power supply after the corresponding transformation; Dsp processor (1) is installed on the described expansion interface plate (2); Analog signal between BOA smart camera (8) and dsp processor (1) and data communication and dsp processor (1) all pass through the photoelectric isolation module of described expansion interface plate (2) for the pulse of stepper motor drive plate (3);
4. the meticulous tracking system of the micro-plasma arc welding of a kind of ultra-thin fine texture spare as claimed in claim 1, it is characterized in that, described stepper motor drive plate (3) one ends are connected with dsp processor (1) through expansion interface plate (2), the other end and the first electronic control translation stage (4) be connected electronic control translation stage (5) and be connected;
Described stepper motor drive plate (3) is provided with can realize the more sub-circuit of high accuracy adjustment of electronic control translation stage.
5. the meticulous tracking system of the micro-plasma arc welding of a kind of ultra-thin fine texture spare as claimed in claim 1, it is characterized in that, the object of described meticulous tracking is ultra-thin, super fine precision structural member, the size of ultra-thin, super fine precision structural member is less than or equal to 0.1mm, its butt-joint clearance size is at 28 ~ 86 μ m during the assembling of gapless high accuracy, and its tracking accuracy is 5 μ m.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210380905.7A CN102922114B (en) | 2012-10-09 | 2012-10-09 | A kind of meticulous tracking system of micro-plasma arc welding of ultra-thin fine texture part |
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| CN201210380905.7A CN102922114B (en) | 2012-10-09 | 2012-10-09 | A kind of meticulous tracking system of micro-plasma arc welding of ultra-thin fine texture part |
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| CN102922114A true CN102922114A (en) | 2013-02-13 |
| CN102922114B CN102922114B (en) | 2016-05-25 |
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Cited By (5)
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| CN103831516A (en) * | 2013-12-16 | 2014-06-04 | 上海工程技术大学 | Stainless steel mesh discontinuous welding spot continuous welding method based on vision sensing technology |
| CN104117765A (en) * | 2013-04-27 | 2014-10-29 | 天津铜人数控设备制造有限公司 | Special radiator welding robot under artificial vision guiding |
| CN105312751A (en) * | 2015-10-30 | 2016-02-10 | 沈阳黎明航空发动机(集团)有限责任公司 | Connecting method for aero-engine filter screen |
| CN105499772A (en) * | 2016-01-26 | 2016-04-20 | 清华大学 | Control system for micro-beam plasma welding formation of thin-wall slit circular longitudinal seam |
| CN114345721A (en) * | 2021-11-29 | 2022-04-15 | 上海工程技术大学 | V-arrangement part pin expands shaping device that contracts |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114345721A (en) * | 2021-11-29 | 2022-04-15 | 上海工程技术大学 | V-arrangement part pin expands shaping device that contracts |
| CN114345721B (en) * | 2021-11-29 | 2023-05-09 | 上海工程技术大学 | V-shaped part pin expansion and contraction shaping device |
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