CN102922114B - A kind of meticulous tracking system of micro-plasma arc welding of ultra-thin fine texture part - Google Patents
A kind of meticulous tracking system of micro-plasma arc welding of ultra-thin fine texture part Download PDFInfo
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- CN102922114B CN102922114B CN201210380905.7A CN201210380905A CN102922114B CN 102922114 B CN102922114 B CN 102922114B CN 201210380905 A CN201210380905 A CN 201210380905A CN 102922114 B CN102922114 B CN 102922114B
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Abstract
The present invention relates to a kind of meticulous tracking system of micro-plasma arc welding of ultra-thin fine texture part, comprise expansion interface plate (2), stepper motor drive plate (3), the first electronic control translation stage (4), the second electronic control translation stage (5), frock walking mechanism (6), the frock platform (7) that is installed, its feature also comprises the BOA smart camera (8) that is fixed on welding gun (9), is arranged on the dsp processor (1) on expansion interface plate (2); Expansion interface plate (2) provides power supply to 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); It is upper that welding gun (9) is fixed on the second electronic control translation stage (5), the first electronic control translation stage (4) and the vertical assembling of the second electronic control translation stage (5) intersection. This system realizes the high-quality welding of the micro-plasma arc welding to ultra-thin, hyperfine structure part, high-precision control, and working stability is reliable.
Description
Technical field
The present invention relates to meticulous seam tracking system technical field, specifically refer to a kind of microbeam of ultra-thin fine texture partThe meticulous tracking system of plasma arc welding (PAW).
Background technology
Now, in weld joint automatized tracking technique, be to grind with the seam tracking system of visual sensing technologyStudy carefully emphasis and focus. Be exactly by weld seam by vision sensor with the seam tracking system of visual sensing technologyReal-time condition imaging after, process and data passed to control processor, control processor warp through corresponding imageCross after signal processing, aim at weld seam center by closed control circuit control motor to adjust welding torch position, withRealize high-quality welding. Whole weld joint automatized tracking system mainly comprises weld image information gathering and locatesReason part, 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 toolThere is higher intelligence, namely want the crucial following problem that solves: 1, weld seam recognition and weld image informationExtract; 2, image is processed in real time and is fed back in time; 3, real-time control system; 4, dynamic Control and precision are adjustedWhole.
Through prior art literature search is analyzed, find existing tracking system, all or to heavy-gauge steelThe weld seam of plate is followed the tracks of, or tracking accuracy is not high. " the electron distributions formula weld seam of Sun Naiwen, fourth training FanTracking and device " propose in (application number 86106386), in electron beam welding, to use two phasesThe electronic receiver that mutual axisymmetric electronic sensor is made is received in the reflection electronic that 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 not rightClaim, is adjusted until symmetry, but this system is subject to the impact of external magnetic field and electric field, poor anti jamming capability,Cause following the tracks of and have deviation. 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, treated calculating with two video camerasDraw the current ideal position of welding gun, obtain and the difference of physical location, and convert analog signal to by controllerOr radio communication output, control welding gun correction motor, realize the object of soldering joint automatic tracking, this system is adoptedWith two video cameras, although tracking effect is pretty good, there is the suspicion of the wasting of resources, in literary composition, do not mention this yetSystem can be followed the tracks of ultra-thin fine texture part, and correlation technique also has no 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 ultra-thin fine texture part is providedThe meticulous tracking system of micro-plasma arc welding, by BOA smart camera, can Real time identification and extract ultra-thinThe weld image information of fine texture part (size is less than 0.1mm); Employing dsp processor is control centre, profitMeet the requirement of real-time of whole system by its powerful data-handling capacity and the high speed of service; By steppingThe control of motor drive plate and driving high precision electric control translation stage, realize the high accuracy FEEDBACK CONTROL adjustment of welding gun,Adjust precision up to 10um level.
Technical solution of the present invention is as follows:
The meticulous tracking system of micro-plasma arc welding of ultra-thin fine texture part, comprise BOA smart camera,(both are by stepper motor+ball screw for dsp processor, the first electronic control translation stage and the second electronic control translation stageTranslation stage composition), expansion interface plate, stepper motor drive plate; Expansion interface plate external power supply, through correspondingTransformation after give 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; Dsp processor is arranged on expansion interface plate; Welding gun is fixed on the second automatically controlled putting downMove on the table top of platform, BOA smart camera is fixedly mounted on welding gun; BOA smart camera, passes through I/OPWRInterface connects expansion interface plate, is connected through expansion interface plate by LAMP interface with dsp processor, passes through LANInterface is connected with host computer, realizes the setting of BOA smart camera parameters and sets up image and process and lead toNews scheme, BOA smart camera can disconnect being connected of LAN interface with host computer subsequently; First is automatically controlled flatMoving platform and the second electronic control translation stage is fixed in frock walking mechanism; The first electronic control translation stage and the second automatically controlled putting downMove platform and connect stepper motor drive plate by wire, stepper motor drive plate connects expansion interface plate by wire,The control signal of reception dsp processor carrys out Driving Stepping Motor and then Butt welding gun carries out centering adjustment.
Brief description of the drawings
Fig. 1 is one of meticulous tracking system structure of micro-plasma arc welding of a kind of ultra-thin fine texture part of the present inventionSchematic diagram;
Fig. 2 be a kind of ultra-thin fine texture part of the present invention the meticulous tracking system structure of micro-plasma arc welding twoSchematic diagram;
Fig. 3 is the control electricity of the meticulous tracking system of micro-plasma arc welding of a kind of ultra-thin fine texture part of the present inventionRoad 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 stage5-the second electronic control translation stage 6-frock walking mechanism 7-frock platform 8-BOA smart camera 9-that is installedThe ultra-thin fine texture part of welding gun 10-
Specific embodiments
Below in conjunction with drawings and Examples, the invention will be further described
The meticulous tracking system of micro-plasma arc welding of a kind of ultra-thin fine texture part that the present invention proposes, adopts DSPProcessor 1 is control centre, obtains ultra-thin fine texture part weld image information by BOA smart camera 8,Obtain after treatment weld seam centre coordinate, through the communication of LAMP interface asynchronous serial port to dsp processor 1, DSPProcessor 1 is through corresponding calculating, and output pulse is to stepper motor drive plate 3, and stepper motor carries according to pulseDeflection and offset distance information rotate, drive welding gun 9 finely tune, make the ultra-thin thin knot of micro-beam plasma arc centeringMember 10 weld seam centers. Described dsp processor 1 is TMS320DSPF2812 minimum system plate.
According to the actual conditions of existing fixture system, BOA smart camera 8 is arranged on the 6mm through particular designOn thick bakelite plate, the bakelite plate that 6mm is thick closes through the aluminium of band annular similar " K " shape of a particular designGold part is fixed on welding gun 9, and welding gun 9 is fixed on the second electronic control translation stage 5; BOA smart camera 8 adoptsM1280, resolution ratio is 1280 × 960, Pixel size is 3.7um, completely can be to ultra-thin fine texture part weld seamBlur-free imaging; BOA smart camera 8 on computers except driver without install any image processing software,In the time arranging, be connected with host computer by ethernet lan line, by web browser, start built-inINspectExpress application program is carried out quick-setting to BOA smart camera 8 and is set up image and process and lead toNews scheme, after completing, BOA smart camera 8 can disconnect LAN interface with host computer and be connected; DSP processesDevice 1 is arranged on expansion interface plate 2, and BOA smart camera 8 passes through LAMP line through expanding with dsp processor 1Exhibition interface board 2 is connected, and receives by I/OPWR interface the triggering signal fortune that dsp processor 1 sends overRow scheme starts to detect. BOA intelligence mutually 8 built-in responsible optimized algorithms respectively, management application, managing image passesDigital signal processor, central processing unit and three processors of field programmable gate array of sensor function, canIt is programmed to realize desired function.
The data that BOA smart camera 8 obtains the weld image information processing of ultra-thin fine texture part are passed through LAMPThe communication of line asynchronous serial port is to dsp processor 1, and dsp processor 1 feeds back according to the BOA smart camera 8 receivingData, through calculating, the direction of rotation of output control step motor and the pulse signal of angle are through stepping electricityThe 3 control step motor rotations of machine drive plate; Step motor control drive plate 3, not only can complete general drive plateFunction, also designed sub-circuit, can realize the more high-precision adjustment of electronic control translation stage.
Expansion interface plate 2 external power supplys are given respectively BOA smart camera 8, DSP place after corresponding transformationReason device 1, the first electronic control translation stage 4 and the second electronic control translation stage 5, stepper motor drive plate 3 are powered; BOAAnalog signal between smart camera 8 and dsp processor 1 and data communication and dsp processor 1 are given steppingThe photoelectric isolation module of expansion interface plate 2 is all passed through in the pulse of motor drive plate 3.
The first electronic control translation stage 4 and the second electronic control translation stage 5 intersect orthogonal sets and are fitted together, requirement when installationThe be installed workbench of platform 7 of the base plane of the first electronic control translation stage 4 and the second electronic control translation stage 5 and frockFace is vertical, can realize the step motion of X, Y two-dimensional directional, can drive welding gun to finely tune to aim at ultra-thinThe weld seam center of thin weldment. When the horizontal central loading of the first electronic control translation stage 4 and the second electronic control translation stage 5When identical, all it doesn't matter for both any one horizontal positioned or vertical placement, can meet wanting of system loadAsk; But when horizontal central loading and the vertical centre of the first electronic control translation stage 4 and the second electronic control translation stage 5 are bornWhile carrying difference, suppose that the horizontal central loading of the first electronic control translation stage 4 is greater than the water of the second electronic control translation stage 5Flat central loading, is also noted that when assembling the first electronic control translation stage 4 and the second electronic control translation stage 5: groupWhen dress, the base of the first large horizontal central loading electronic control translation stage 4 is horizontally fixed on to frock walking mechanism 6Upper, the second electronic control translation stage 5 is vertically fixed on the table top of the first electronic control translation stage 4; Welding gun 9 and secondThe table top of electronic control translation stage 5 is connected and fixed, and BOA smart camera 8 is fixed on welding gun, and fixed position is adjustable,Ensure BOA smart camera 8 imaging clearly in the time that welding gun lifts and depress. The microbeam of this ultra-thin fine texture part etc.The first electronic control translation stage 4 that the meticulous tracking system of ion arc-welding is selected and the second electronic control translation stage 5 are same typeNumber 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 utmost pointsExtreme position switch.
The present invention realized innovatively that BOA smart camera 8 distributes with the real-time task of dsp controller 1 andData communication. Can realize well ultra-thin (0.1mm stainless sheet steel, 0.05mm titanium foil), ultra-fine (0.2mmAnd the silk screen of following string diameter) gapless high accuracy its butt-joint clearance size of when assembling is in 28 ~ 86 μ m, its trackingPrecision is the high-quality welding of 5 μ m structural members, and control accuracy is high, and working stability is reliable.
Claims (4)
1. the meticulous tracking system of the micro-plasma arc welding of ultra-thin fine texture part, comprises 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 rowWalk mechanism (6) and the frock platform (7) that is installed, it is characterized in that, also comprise the BOA intelligence being fixed on welding gun (9)Can camera (8) and be arranged on the dsp processor (1) on expansion interface plate (2);
In described BOA smart camera (8), establish and be responsible for respectively optimized algorithm, management application, managing image sensorFunction, complete in the lump ultra-thin, ultra-fine in conjunction with embedded graphical image process software iNspectExpressThe acquisition and processing of fine structure part weld image information and realization and dsp processor (1) asynchronous serial port communicationDigital signal processor, central processing unit and three processors of field programmable gate array;
Serial ports pin RX, the TX of described BOA smart camera (8) is asynchronous through LAMP line and dsp processor (1)Serial communication connects, and dsp processor (1) carries out the defeated of low and high level through I/OPWR line and BOA smart cameraEnter output;
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 LAN mouth with host computer and is connected in the time of work, independent operating;
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 part as claimed in claim 1,It is characterized in that described expansion interface plate (2) external power supply is given respectively BOA intelligence after corresponding transformationCamera (8), dsp processor (1), the first electronic control translation stage (4) and the second electronic control translation stage (5), stepper motorDrive plate (3) power supply; Dsp processor (1) is arranged on described expansion interface plate (2); BOA smart camera (8)With analog signal between dsp processor (1) and data communication and dsp processor (1) drive to stepper motorThe photoelectric isolation module of described expansion interface plate (2) is all passed through in the pulse of plate (3).
3. the meticulous tracking system of the micro-plasma arc welding of a kind of ultra-thin fine texture part as claimed in claim 1,It is characterized in that, described stepper motor drive plate (3) one end connects through expansion interface plate (2) and dsp processor (1)Connect, the other end is connected with the first electronic control translation stage (4) and the second electronic control translation stage (5);
Described stepper motor drive plate (3) is provided with can realize the electronic control translation stage segmentation that more high accuracy is adjustedCircuit.
4. the meticulous tracking system of the micro-plasma arc welding of a kind of ultra-thin fine texture part as claimed in claim 1,It is characterized in that, the object of described meticulous tracking is ultra-thin, super fine precision structural member, ultra-thin, super fine precisionThe size of structural member is less than or equal to 0.1mm, and when the assembling of gapless high accuracy, its butt-joint clearance size exists28～86 μ m, 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 CN102922114A (en) | 2013-02-13 |
| CN102922114B true CN102922114B (en) | 2016-05-25 |
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| CN201210380905.7A Expired - Fee Related 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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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN103831516B (en) * | 2013-12-16 | 2016-05-25 | 上海工程技术大学 | The sequential welding method of the discontinuous solder joint of stainless steel cloth based on visual sensing technology |
| CN105312751B (en) * | 2015-10-30 | 2018-01-16 | 沈阳黎明航空发动机(集团)有限责任公司 | A kind of connection method of aero-engine filter screen |
| CN105499772B (en) * | 2016-01-26 | 2017-10-24 | 清华大学 | A kind of MICROBEAM PLASMA WELDING shaping control system of thin-walled areola ring longitudinal joint |
| 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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| EP1053817A2 (en) * | 1999-05-20 | 2000-11-22 | Daido Tokushuko Kabushiki Kaisha | Metal pipe inner surface weld-mounting apparatus having monitor device |
| EP1197289A1 (en) * | 2000-10-12 | 2002-04-17 | General Electric Company | Gas turbine component refurbishment apparatus and repair method |
| CN101391341A (en) * | 2008-10-07 | 2009-03-25 | 上海工程技术大学 | Microbeam plasma arc welding total-system cooperative control structure |
| CN101655705A (en) * | 2008-08-20 | 2010-02-24 | 中国科学院自动化研究所 | Intelligent camera based method and intelligent camera based device for automatically tracking butt weld of thin plate |
| CN101961819A (en) * | 2009-07-22 | 2011-02-02 | 中国科学院沈阳自动化研究所 | Device for realizing laser welding and seam tracking and control method thereof |
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- 2012-10-09 CN CN201210380905.7A patent/CN102922114B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1053817A2 (en) * | 1999-05-20 | 2000-11-22 | Daido Tokushuko Kabushiki Kaisha | Metal pipe inner surface weld-mounting apparatus having monitor device |
| EP1197289A1 (en) * | 2000-10-12 | 2002-04-17 | General Electric Company | Gas turbine component refurbishment apparatus and repair method |
| CN101655705A (en) * | 2008-08-20 | 2010-02-24 | 中国科学院自动化研究所 | Intelligent camera based method and intelligent camera based device for automatically tracking butt weld of thin plate |
| CN101391341A (en) * | 2008-10-07 | 2009-03-25 | 上海工程技术大学 | Microbeam plasma arc welding total-system cooperative control structure |
| CN101961819A (en) * | 2009-07-22 | 2011-02-02 | 中国科学院沈阳自动化研究所 | Device for realizing laser welding and seam tracking and control method thereof |
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