CN103273171B - Visual tracking monitoring system and method in automatic corrugated thin plate fillet weld welding - Google Patents
Visual tracking monitoring system and method in automatic corrugated thin plate fillet weld welding Download PDFInfo
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Abstract
The invention discloses a visual tracking monitoring system and method in automatic corrugated thin plate fillet weld welding. The visual tracking monitoring system and method in the automatic corrugated thin plate fillet weld welding comprises a welding gun, a system installing frame, a welding technological parameter adjuster, a vision device I, a vision device II, an image data processor, a welding gun drive device, a tracking drive device and a controller. The vision device I and the vision device II are respectively connected with the image data processor; the image data processor is respectively connected with the controller and the welding technological parameter adjuster; the controller is respectively connected with the welding gun drive device and the tracking drive device. According to the visual tracking monitoring system and method in the automatic corrugated thin plate fillet weld welding, binocular vision devices are adopted, the front vision device II is used for leading the movement of the welding gun, the direct-sight vision device I monitors a weld pool and welding joints before the weld pool and conducts adjustment on welding gun track deviation caused by factors such as thermal welding deformation and welding wire bending.
Description
Technical field
The present invention relates to the welding of sidewall corrugated plating, particularly relate to the vision tracking and monitoring system in corrugated sheet angle welding automatic welding and method.
Background technology
In actual welding is produced, because workpiece to be welded exists the abnormal error of blanking processing and assembling, workpiece thermal deformation, wire bending and welding arc blow, welding mechanism movement warp etc. can be produced in welding process and be difficult to expectation problem in advance, gap to be welded width may be caused to differ and cause welding gun to depart from and to treat Weld pipe mill, therefore desirable automatic Arc Welding should need weld seam gap track and the wide automatic tracking, monitoring of seam, dynamically in good time adjustment welding gun movement locus and welding condition accordingly.
The existing automatic recognition and tracking method of weld seam according to various principle, adopts corresponding sensor to realize, as direct copy, arc sensor, laser sensor, ultrasonic sensor etc. both at home and abroad.These sensors are applied in some automatic weldings equipment, and its feature and applicable situation respectively have difference.In the corrugated sheet angle welding automatic weldings such as container because the fit-up gap track of weldment and gap length irregular, some method is difficult to application, though some methods have application effect not satisfactory.Such as existing enterprise adopts the method for laser ranging to carry out weld joint tracking, by rangefinder according to be incident upon treat weld seam dead ahead or directly over laser spots draw two-dimensional coordinate, the track put with this is approximate replaces assembling gap track (therefore precision is not high), guides welding gun to move accordingly.Because welding arc light has severe jamming to laser, therefore laser remotely can only project at distance welding zone (measuring point distance welding gun about half meter is far away), there is advanced error in relatively current the putting at welding position of this measuring point, welding gun still may offset in welding process within the scope of this, therefore still needs manually to carry out welding torch position adjustment.This method has patent " the container corrugated plate welding track monitoring device based on laser ranging ", " the container corrugated plate welding track Monitoring and control system based on laser ranging " of the applications such as the Tian Xincheng of Shandong University.
In recent years, the recognition and tracking technology of view-based access control model sensor steps into commercial Application gradually, and what wherein the most extensively adopt is obtain laser spots or line treating welding zone projected image and extracting the method for its characteristic point and indirect identification weld seam.Because of welding arc light serious interference, therefore laser remotely can only project at distance welding zone, the method for narrow groove or the applications such as square groove weld seam, complicated position weld seam not good, and there is advanced error.Another kind method obtains welding zone image, therefrom Direct Recognition weld seam.The dynamic light intensity of this method Problems existing Shi Ci district arc light is extremely strong, and general industry camera is difficult to this district's direct imaging, in addition, because visual field is confined in welding zone territory, can not predict by butt welded seam track, thus can not plan welding gun path.
Corrugated plating angle welding particularly container side plate angle welding monitoring follow the tracks of be always enterprise application automatic welding equipment a difficult problem, workpiece to be welded thin (1.6mm), weld seam long (tens meters), fit-up gap change greatly (0 ~ 6mm), speed of welding fast (1.5m/min), protective gas is had to fill the air, weld seam is tortuous, in welding process, thermal deformation causes fit-up gap that uncertain skew occurs, hard arc is there is in welding process, the interference such as the welding slag splashed, particularly utilize vision sensor need larger working substance apart from and narrow space after angle welding assembling, these complex environments make angle welding especially corrugated plating curvilinear angle weld joint tracking monitoring quite difficulty.
Summary of the invention
The present invention, in order to overcome the shortcoming of prior art existence with not enough, provides the vision tracking and monitoring system in a kind of corrugated sheet angle welding automatic welding and method.The present invention is mainly used in the welding of the sidewall corrugated platings such as container, passenger train, subway and light rail passenger vehicle.
The present invention adopts following technical scheme:
A vision tracking and monitoring system in corrugated sheet angle welding automatic welding, comprises welding gun, also comprises system installing rack, welding condition adjuster, and
For obtaining the sighting device I of molten bath and bonding pad slot image thereof;
For obtaining the preposition sighting device II treating welding zone assembling seam image;
The assemble welding seam centrode treating welding zone for the treatment of preposition and stitch wide, coupled district, center, molten bath slit centers side-play amount and welding when wide image data processor is stitched in proparea;
For the welding gun drive unit driving welding gun and sighting device I to carry out Y-direction motion;
For driving sighting device II, welding gun drive unit carries out Z-direction motion and the tracking drive unit of Y-direction motion;
For controlling welding gun drive unit, following the tracks of the controller of drive unit motion;
Described system installing rack comprises guide rail, chute and chute driver, orthogonal L shape installing rack and vertical-shaped installing rack, and described vertical-shaped installing rack is arranged on guide rail by chute and chute driver;
Described welding gun is arranged on welding gun drive unit;
Described sighting device II is arranged on the right-hand member of crossbearer in L shape installing rack;
Described sighting device I is fixed on welding gun drive unit, and servo-actuated with welding gun;
Described tracking drive unit is arranged on vertical-shaped installing rack, and described sighting device II, welding gun drive unit are fixed by the vertical frame in L shape installing rack and tracking drive unit, and drive unit carries out Z-direction simultaneously, Y-direction is moved with tracking;
Described sighting device I, sighting device II are connected with image data processor respectively, and described image data processor is connected with controller and welding condition adjuster respectively, described controller respectively with welding gun drive unit, follow the tracks of drive unit and be connected;
With welding bench length direction for X-direction, the direction perpendicular to welding bench plane is Z-direction, is Y-direction with face XZ vertical direction.
The field of view center of described sighting device I, sighting device II differs a corrugated periodic.
Described sighting device I comprises dimmer arrangement, filtering apparatus, secondary light source and industrial camera I successively, described secondary light source in projection hot spot and the molten bath of base plate at X to being connected.
Described sighting device II comprises industrial camera II and laser line generator, described laser line generator is positioned at the right side of industrial camera II, the projection line of described laser line generator on base plate is parallel with Y-axis, and being arranged in the visual field of industrial camera II, the projection oblique line of described laser line generator on corrugated plating is also in the visual field of industrial camera II.
Described guide rail is placed along the X direction.
Described tracking drive unit comprises Y-direction drive unit and Z-direction drive unit.
Described Y-direction drive unit is by guide rail, and Y-direction driver, guide rail platform is formed.
Described Z-direction drive unit is by guide rail, and Z-direction driver, guide rail platform is formed.
A vision tracking and monitoring method in corrugated sheet angle welding automatic welding, comprises the steps:
(1) before carrying out seam weldering, tracking drive unit and welding gun drive unit reset, work coordinate system XYZ initial point got back to by welding gun;
(2) sighting device II is by the drive of chute and chute driver, move along guide rail X-direction, after assembling gap between corrugated plating and base plate enters into the visual field of industrial camera II, industrial camera II obtains the projection line image of laser line generator Emission Lasers line at corrugated plating and base plate, and sends image data processor to;
(3) image data processor is according to projection line image, and calculate front assembling gap to be welded track and assembling gap width, and gap width to be assembled is sent to welding condition adjuster, assembling gap to be welded track sends to controller;
(4) welding condition adjuster is according to seam width to be assembled, plans corresponding parameter to be welded;
(5) controller follows the tracks of according to assembling gap to be welded TRAJECTORY CONTROL the Y-direction motion that Y-direction drive unit in drive unit realizes welding gun, sighting device I, sighting device II, control to follow the tracks of the Z-direction motion that Z-direction drive unit in drive unit realizes welding gun, sighting device I, sighting device II, welding gun is moved along seam track;
(6) after the assembling gap between corrugated plating and base plate and molten bath enter into sighting device I visual field, sighting device I obtains the image of molten bath, secondary light source hot spot and interior ripple side plate lower edge and plate upper surface profile, and sending to image data processor, image data processor obtains welding when the wide and central point A relative slot center line left side, the molten bath terminal B side-play amount of proparea seam according to image; And send to welding condition adjuster by wide for the seam of working as proparea, relative for A point B point side-play amount is sent to controller;
(7) controller is according to the adjustment amount of step (6), control welding gun drive unit realizes welding gun, the Y-direction of sighting device I moves, realize fine setting, welding condition adjuster is according to stitching wide when weld zone, proparea simultaneously, adjusts current welding condition.
In described step (7), welding condition comprises electric current, voltage, wire feed rate and speed of welding.
The online real-time continuous of the present invention is extracted the three-dimensional track of front assembling to be welded broken line seam and is stitched wide, by corresponding data real-time Transmission to controller and welding condition adjuster, for realizing welding gun path and welding condition Rough Planning; It is wide and stitch relative molten bath, position side-play amount that online real-time continuous extracts current welding zone seam, obtain position adjustment amount and the welding condition adjustment amount of welding gun, by corresponding data real-time Transmission to controller and welding condition adjuster, finely tune in real time adjust in real time with welding condition for realizing welding gun track.
Beneficial effect of the present invention:
(1) efficiency of the present invention is high, welding quality is good, the present invention adopts the vision system Automatic-searching of forward type to weld starting point and in automatic welding, identifies assembling gap to be welded, front dog-leg path and follows the tracks of and gap width, welding gun is guided to move and predetermined welding condition, the monitoring of recycling direct-viewing type vision system, sweating heat is out of shape, the weld width change that wire bending etc. cause and the side-play amount of molten bath phase butt welded seam, welding gun is guided to carry out positional deviation correction and adjust welding condition in real time, eliminate or reduce the weld seam dog-leg path of corrugated sheet angle welding automatic welding particularly in MAG automatic welding and distinguish inaccurate, weldering pre-structure form error and rigging error, the weldquality problem caused by reason such as sweating heat distortion, realize the intelligent-tracking monitoring in corrugated sheet broken line angle welding automatic welding and self adaptation feedback, before avoiding or reducing weldering, in weldering, postwelding personal monitoring, monitoring, fine setting, repair welding workload, improve welding quality and efficiency,
(2) operation mechanism of flexibility, adaptability is good, and the present invention, according to the tortuous weld seam of corrugated plating and fillet welding position feature, devises three axle controlled motions of monitoring device and welding gun, can monitor each position of weld seam; (3) versatility is good, weld seam recognition and the tracking of the weldment of slab, thin plate and various groove can be realized, weld seam recognition of the present invention and tracking system treat the specific restriction that welding work pieces does not have material, shape, size, both identification and the tracking of ripple weld seam and angle welding had been may be used for, also can be used for automatic identification and the tracking of straight weld, treat weldment thickness of slab and whether bevel does not all have restriction;
(4) intelligence degree of the present invention is higher, does not need manually to assist the fixture of zero and employing complexity in welding process, and what only needs assembled treats that weldment moves to position to be welded on a production line, just can realize automatic welding;
(5) simple to operate, automaticity is high, measures cost low, nuisanceless, and the hardware and software of weld seam recognition of the present invention and tracking system is all quite simple, low cost of manufacture; Different workpiece to be welded, only need be positioned at the effective moving range of platform and effective identification range just can identify fast and follow the tracks of, and realizes automatic welding; Easy operation, can realize the automation of higher degree; Without the need to consuming intermediate medium in using, measure with low cost; Greatly alleviate the injury to human body such as arc light, flue dust, gas in welding production process, improve welding work condition.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is label 25 in Fig. 1, label 26 two parts install coordinate graph of a relation, (a) front view, and (b) is top view, and (c) is side view;
Fig. 3 is the structure chart of system installing rack in Fig. 1;
Fig. 4 is workflow diagram of the present invention;
Fig. 5 (a) is image graph in RST coordinate system in Fig. 2, and (b) is image graph in R ' S ' T ' coordinate system in Fig. 2;
Fig. 6 (a) is theory and practice assembling seam coincidence pattern, and (b) is that the figure do not overlapped is stitched in theory and practice assembling, and (c) is the wide and center position figure of assembling seam.
Shown in figure:
1-image data processor, 2-welding bench, 3-corrugated plating, 4-dimmer arrangement, 5-filtering apparatus, 6-secondary light source, 7-industrial camera I, 8-chute and chute driver, 9-system installing rack, 10-industrial camera II, 11-laser line generator, 12-guide rail, 13-controller, 14-welding condition adjuster, 15-molten bath, 16-secondary light source hot spot, 17-welding gun, 18-welding gun drive unit, 19-Y is to drive unit, 20-Z is to drive unit, 21-line laser is at ripple side plate projection line, 22-line laser is at base plate projection line, 23-base plate, the theoretical weld seam of 24-, 25-sighting device I, 26-sighting device II, 27-follows the tracks of drive unit.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
The work coordinate system XYZ of welding gun in the present embodiment, with welding bench 2 length direction for X-direction, direction perpendicular to welding bench plane is Z-direction, be Y-direction with face XZ vertical direction, initial point is summit, the welding bench lower left corner, and described welding gun moves from left to right, and described XOY plane and base plate 23 to be welded in theory surface overlap, industrial camera I coordinate system RST, initial point O
1, the coordinate of described industrial camera II 10 is UVW, initial point O
2, above-mentioned three coordinate systems can be changed mutually.
As shown in Figure 1, vision tracking and monitoring system in a kind of corrugated sheet angle welding automatic welding, comprise welding gun 17, also comprise system installing rack 9, welding condition adjuster 14, sighting device I 25, sighting device II 26, image data processor 1, welding gun drive unit 18, tracking drive unit 27, controller 13;
As shown in Figure 3, described system installing rack 9 comprises guide rail 12, chute and chute driver 8 and orthogonal L shape installing rack and vertical-shaped installing rack, and described vertical-shaped installing rack is arranged on guide rail 12 by chute and chute driver 8;
Described welding gun 17 is arranged on welding gun drive unit 18;
Described sighting device II 26 is arranged on the right-hand member of crossbearer in L shape installing rack;
Described sighting device I 25 is fixed on welding gun drive unit 18, and servo-actuated with welding gun 17;
Described tracking drive unit 27 is arranged on vertical-shaped installing rack, and described sighting device II 26, welding gun drive unit 18 are fixed by the vertical frame in L shape installing rack and tracking drive unit 27, and drive unit 27 carries out Z-direction simultaneously, Y-direction is moved with tracking;
Described sighting device I 25, sighting device II 26 are connected with image data processor 1 respectively, described image data processor 1 is connected with controller 13 and welding condition adjuster 14 respectively, described controller 13 respectively with welding gun drive unit 18, follow the tracks of drive unit 27 and be connected; Described guide rail 12 is placed along the X direction, realizes welding gun 17, sighting device I 25, welding gun drive unit 18 moved by the X-direction of chute 8 along guide rail 12.
Described tracking drive unit comprises Y-direction drive unit 19 and Z-direction drive unit 20.
Y-direction drive unit 19 is by guide rail, and Y-direction driver, guide rail platform is formed, and Z-direction drive unit 20 is by guide rail, and Z-direction driver, guide rail platform is formed.
With welding bench length direction for X-direction, the direction perpendicular to welding bench plane is Z-direction, is Y-direction with face XZ vertical direction.
The field of view center of described sighting device I 25, sighting device II 26 differs a corrugated periodic.
Described sighting device I 25 comprises dimmer arrangement 4, filtering apparatus 5, secondary light source 6 and industrial camera I successively.Before described dimmer arrangement 4, filtering apparatus 5 are arranged on industrial camera I camera lens, industrial camera I, secondary light source 6 are all θ with Z axis in YZ parallel surface
1overturning angle is installed, secondary light source 6 is between welding gun 17 and industrial camera I 7, secondary light source 6 is according to the front to molten bath 15, it is incident upon hot spot 16 on base plate 23 and molten bath 15 at X to being connected, local ripple side plate lower edge and plate upper surface (being gap) is comprised between the two in hot spot 16, set up industrial camera I image coordinate system RST, the initial point O of described coordinate system RST
1for the imaging surface center of industrial camera I, T axle is the optical axis of industrial camera I, and T axle is a smaller θ with Z axis in XZ plane
2overturning angle, blocks hot spot imaging to avoid welding gun 17 and secondary light source 6.As shown in Fig. 2 (a), (b), (c), RST coordinate system is rotated counterclockwise θ around S axle
2angular transformation is coordinate system R ' S ' T ', and described R ' S ' T ' coordinate system can be changed mutually with XYZ coordinate system, and R ' is parallel with X, and S ', T ' are rotated counterclockwise θ around R '
1parallel with Y, Z respectively behind angle.
Assembling gap between corrugated plating 3 and base plate 23 enters into visual field, welding gun 17 starts welding, industrial camera I obtains molten bath, secondary light source hot spot 16 and is positioned at the image wherein assembling gap, as shown in Fig. 5 (a), (b), by image data processor 1, image in this RS plane is made θ
2overturning angle is corrected in R'S' plane, identifies molten bath 15 pattern and the sideline, gap of extracting in its central point A and proparea, molten bath hot spot, calculates image slot width δ
1and width center line; Definition B is point near molten bath on center line, extracts B dot image coordinate, R', the S' that can calculate A, B 2 to image coordinate difference DELTA r' and Δ s', according to the picture system parameter of demarcating in advance, by δ
1calculate the wide L of actual seam
1, calculate to obtain its Δ x by Δ r' and calibrating parameters
1to value (center, molten bath A be about to be soldered to the distance of a B in X-direction), to be projected to Y, Z axis by Δ s' and calibrating parameters converts and obtains center, molten bath A and the Y, the Z-direction offset Δ y that are about to be soldered to slit centers point B
1, Δ z
1; Stitch wide and offset data and send welding condition modulator 14, controller 13 respectively to, for adjusting the bias of welding condition and welding gun phase butt welded seam.
Described sighting device II 26 comprises industrial camera II 10 and laser line generator 11, and described laser line generator 11 is positioned at the right side of industrial camera II, and described right side is X-axis positive direction, and industrial camera II10, laser line generator 11 are all θ with Z axis in YZ parallel surface
1overturning angle is installed, and laser line generator 11 is also θ overturning angle with Z axis in XZ plane, to make laser line generator 11 can in the visual field of industrial camera II at the projection line 22 of base plate 23 upper surface and the projection oblique line 21 on ripple side plate 3.
Set up industrial camera II image coordinate system UVW, the initial point O of described coordinate system UVW
2for the imaging surface center of industrial camera II, W axle is the optical axis of industrial camera II, and as shown in Fig. 2 (a), (b), (c), W axle is θ with Z axis in YZ plane
1overturning angle.U and X is parallel, and V, W are rotated counterclockwise θ around U
1parallel with Y, Z respectively behind angle.
The projection line of laser rays on ripple side plate 3 and base plate 23 that laser line generator 11 is launched is obtained by industrial camera II.If contact with base plate 23 on the base of the position ripple side plate 3 that laser rays is irradiated to, then the projection line 21 of line laser on corrugated plating and the line laser projection line 22 on base plate is crossing at two plate contact points, intersection point M (N) namely assembles the point sewed on, its image coordinate value u
mto X-axis conversion, v
mconvert to Y, Z axis projection and consider X, Y that namely picture system calibrating parameters obtain this and treat solder joint, Z-direction coordinate value x
m, y
m, z
m, send controller to for planning welding gun path; If do not contact because of distortion on the base of this position corrugated plating 3 or base plate 23.Then there is a gap width, the end points N of end points M and end throwing line 22 that line 21 is thrown in laser side does not directly intersect, through image procossing in the UV plane of delineation, according to the image coordinate (u of M and N point
m, v
m) and (u
n, v
n) calculate image coordinate difference DELTA u and the Δ v of 2, Δ v theory assembling suture method to component be the picture traverse δ in gap herein
2, according to each coordinate system relation in the picture system parameter of demarcating in advance and Fig. 2, by δ
2calculate the wide L of actual seam
2, get δ
2mid point C, by its image coordinate value (u
c, v
c) to convert to XYZ coordinate system and to consider picture system calibrating parameters, namely obtain the X of C point, Y, Z-direction coordinate value x
c, y
c, z
c, data are sent to controller 13 and welding condition adjuster 14, for path and technological parameter Rough Planning.Because sighting device II phase Butt welding gun 17 has larger lead, the Monitoring Data of above-mentioned assembling seam position and width is the predicted value for the previous period also do not reached at welding gun 17, when this future position gone to by welding gun 17 from current location, also may there is the weld seam error that thermal deformation, arc blow etc. cause, therefore need to carry out monitoring and guiding fine setting with sighting device I.
A vision tracking and monitoring method as shown in Figure 4 in corrugated sheet angle welding automatic welding, comprises the steps:
(1) before welding, controller sends instruction, sighting device I, sighting device II, welding gun drive unit 18, tracking drive unit 27 reset in X-direction along guide rail with system installing rack 9, sighting device I, sighting device II, welding gun 17 realize the reset of Y-direction, Z-direction by following the tracks of drive unit 27, sighting device I and welding gun 17 reply Y-direction initial position on welding gun drive unit 18, and namely welding gun is positioned at coordinate system XYZ initial point; Then, expect welding bench by corrugated plating 3 to be welded and base plate 23, carry out coarse positioning spot welding with clamp pressing, so far complete weld seam assembling.
(2) system installing rack is under the drive of chute and chute driver 8, move along guide rail X-direction, after assembling gap between corrugated plating 3 and base plate 23 enters into the visual field of industrial camera II, industrial camera II obtains the projection line image of laser line generator Emission Lasers line at corrugated plating 3 and base plate 23, and sends image data processor to.As shown in Fig. 6 (a), (b), (c), if the edge of corrugated plating and base plate are fitted herein, then laser side is thrown line 21 and the end to throw line 22 crossing, and intersection point M (N) namely assembles the point sewed on, and is positioned on theoretical weld seam 24; If the edge of corrugated plating and base plate are not fitted, then there is a gap width herein, laser side is thrown the end points N end points M of line 21 and the end throwing line 22 and is not directly intersected, according to the image coordinate (u of M and N point in UV plane
m, v
m) and (u
n, v
n), the image coordinate value (u simply using these 2 line mid points as the wide mid point C of seam, its C
c, v
c) such as formula 1-1
According to the image coordinate (u of M and N point
m, v
m) and (u
n, v
n) calculate image coordinate difference DELTA u and the Δ v of 2, Δ v theory assembling suture method to component be the picture traverse δ in gap herein
2, according to according to the UVW picture system calibrating parameters (mm/ pixel) demarcated in advance, calculate the wide L of actual seam
2such as formula 1-2
L
2=δ
2* calibration coefficient,
In formula 1-2, α is ripple weld seam broken line and X-axis angle
According to the spatial relation between image coordinate system UVW and work coordinate system XYZ, wide mid point C can be stitched in coordinate system XYZ spatial location such as formula 1-3
The three-dimensional coordinate of seam track C is transferred to controller 13, assembling gap width L
2be transferred to welding condition adjuster 14.Controller 13 sends instruction, and tracking drive unit 27 drives welding gun 17 to realize Y-direction by Y-direction drive unit and moves, and drives welding gun 17 to realize Z-direction and moves, thus welding gun 17 is moved along seam track by Z-direction drive unit; Welding condition adjuster 14 is according to the wide L of seam
2planning welding condition (welding current, voltage etc.).
(3) the assembling gap between corrugated plating and base plate and molten bath enter into sighting device I, industrial camera I is by dimmer arrangement, filtering apparatus, obtain molten bath 15 and secondary light source hot spot 16 and sideline, interior gap image thereof, by image data processor, image in this RS plane is made θ
2overturning angle is corrected in R'S' plane, extracts the coordinate value A'(r' of molten bath 15 central point A
a, s'
a) and proparea, molten bath hot spot in sideline, gap, obtain gap width L by image data processor
1with gap width center line, according to each coordinate system relation in the picture system parameter of demarcating in advance and Fig. 2 (a), (b), (c), by δ
1calculate the wide L of actual seam when proparea
1such as formula 1-4
L
1=δ
1* calibrating parameters 1-4
Definition B is the point near molten bath on the wide center line of seam, extracts B dot image coordinate B'(r '
b, s '
b), namely R', the S' that can calculate A, B 2 obtain A, B 2 distances in X-direction to image coordinate difference DELTA r' and Δ s'(Δ r'* calibration coefficient), projected to convert by Δ s' and obtain to Y, Z axis Y, the Z-direction offset Δ y that molten bath central point A is about to be soldered to slit centers point B relatively
1, Δ z
1such as formula 1-5
Stitch wide and offset data and send welding condition modulator 14, controller 13 respectively to, for adjusting the bias of welding condition and welding gun phase butt welded seam, adapt to the change of actual gap width and broken line break-in, obtain continuous whole weld seam, eliminate or reduce postwelding manual amendment workload.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not limited by the examples; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (8)
1. the vision tracking and monitoring system in corrugated sheet angle welding automatic welding, comprises welding gun, it is characterized in that, also comprises system installing rack, welding condition adjuster, and
For obtaining the sighting device I of molten bath and bonding pad slot image thereof;
For obtaining the preposition sighting device II treating welding zone assembling seam image;
For obtain preposition treat welding zone assemble welding slit centers track and stitch wide, center, molten bath and coupled Weld pipe mill side-play amount and weld seam when the wide image data processor of the seam in proparea;
For the welding gun drive unit driving welding gun and sighting device I to carry out Y-direction motion;
For driving sighting device II, welding gun drive unit carries out Z-direction motion and the tracking drive unit of Y-direction motion;
For controlling welding gun drive unit, following the tracks of the controller of drive unit motion;
Described system installing rack comprises guide rail, chute and chute driver, orthogonal L shape installing rack and vertical-shaped installing rack, and described vertical-shaped installing rack is arranged on guide rail by chute;
Described welding gun is arranged on welding gun drive unit;
Described sighting device II is arranged on the right-hand member of crossbearer in L shape installing rack;
Described sighting device I is fixed on welding gun drive unit, and servo-actuated with welding gun;
Described tracking drive unit is arranged on vertical-shaped installing rack, and described sighting device II, welding gun drive unit are fixed by the vertical frame in L shape installing rack and tracking drive unit, and drive unit carries out Z-direction simultaneously, Y-direction is moved with tracking;
Described sighting device I, sighting device II are connected with image data processor respectively, and described image data processor is connected with controller and welding condition adjuster respectively, described controller respectively with welding gun drive unit, follow the tracks of drive unit and be connected;
With welding bench length direction for X-direction, the direction perpendicular to welding bench plane is Z-direction, is Y-direction with face XZ vertical direction.
2. the vision tracking and monitoring system in corrugated sheet angle welding automatic welding according to claim 1, is characterized in that, the field of view center of described sighting device I, sighting device II differs a corrugated periodic.
3. the vision tracking and monitoring system in corrugated sheet angle welding automatic welding according to claim 2, it is characterized in that, described sighting device I comprises dimmer arrangement, filtering apparatus, secondary light source and industrial camera I successively, described secondary light source in projection hot spot and the molten bath of base plate at X to being connected.
4. the vision tracking and monitoring system in corrugated sheet angle welding automatic welding according to claim 2, it is characterized in that, described sighting device II comprises industrial camera II and laser line generator, described laser line generator is positioned at the right side of industrial camera II, the projection line of described laser line generator on base plate is parallel with Y-axis, and be arranged in the visual field of industrial camera II, described laser line generator at the projection oblique line of corrugated plating in the visual field of industrial camera II.
5. the vision tracking and monitoring system in corrugated sheet angle welding automatic welding according to claim 1, it is characterized in that, described guide rail is placed along the X direction.
6. the vision tracking and monitoring system in corrugated sheet angle welding automatic welding according to claim 1, it is characterized in that, described tracking drive unit comprises Y-direction drive unit and Z-direction drive unit.
7. application rights requires the monitoring method of the vision tracking and monitoring system in the corrugated sheet angle welding automatic welding that one of 1-6 is described, it is characterized in that, comprises the steps:
(1) before carrying out weld seam, welding gun drive unit, tracking drive unit reset, work coordinate system XYZ initial point got back to by welding gun;
(2) sighting device II is under the drive of chute and chute driver, move along guide rail X-direction, after assembling gap between corrugated plating and base plate enters into the visual field of industrial camera II, industrial camera II obtains the projection line image of laser line generator Emission Lasers line at corrugated plating and base plate, and sends image data processor to;
(3) image data processor is according to projection line image, calculate preposition treat welding zone assembling seam track and assembling seam wide, and treat that welding zone assembling seam widely sends to welding condition adjuster by preposition, prepositionly treat that welding zone assembling seam track sends to controller;
(4) according to preposition, welding condition adjuster treats that welding zone seam to be assembled is wide, plans corresponding parameter to be welded;
(5) according to preposition, controller treats that welding zone assembling seam TRAJECTORY CONTROL follows the tracks of the Y-direction motion that Y-direction drive unit in drive unit realizes welding gun, sighting device I, sighting device II, control to follow the tracks of the Z-direction motion that Z-direction drive unit in drive unit realizes welding gun, sighting device I, sighting device II, welding gun is moved along seam track;
(6) after the assembling gap between corrugated plating and base plate and molten bath enter into sighting device I visual field, sighting device I obtains the image of both sides, gap line in molten bath, secondary light source hot spot, and send to image data processor, image data processor according to image obtain center, molten bath relative slot center line left side termination offset and weld seam when the seam in proparea wide; And relative slot center line left side termination offset is sent to controller, weld seam is sent to welding condition adjuster when the seam in proparea is wide;
(7) controller is according to the adjustment amount of step (6), control welding gun drive unit realizes welding gun, sighting device I Y-direction moves, realize fine setting, welding condition adjuster is according to stitching wide when weld zone, proparea simultaneously, adjusts current welding condition.
8. monitoring method according to claim 7, is characterized in that, in described step (7), welding condition comprises electric current, voltage, wire feed rate and speed of welding.
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