CN104070264A - Groove-width-varying rotating arc narrow gap MAG welding self-adaptive swing device and method thereof - Google Patents

Groove-width-varying rotating arc narrow gap MAG welding self-adaptive swing device and method thereof Download PDF

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Publication number
CN104070264A
CN104070264A CN201410282830.8A CN201410282830A CN104070264A CN 104070264 A CN104070264 A CN 104070264A CN 201410282830 A CN201410282830 A CN 201410282830A CN 104070264 A CN104070264 A CN 104070264A
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welding
groove
arc
width
image
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CN104070264B (en
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黎文航
高凯
王加友
杨峰
朱杰
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Jiangsu University of Science and Technology
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Jiangsu University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/0213—Narrow gap welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/022—Welding by making use of electrode vibrations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1274—Using non-contact, optical means, e.g. laser means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Geometry (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

The invention discloses a groove-width-varying rotating arc narrow gap MAG welding self-adaptive swing device and a method thereof. The groove-width-varying rotating arc narrow gap MAG welding self-adaptive swing device comprises a rotating arc torch, a CCD camera, a horizontal linear sliding table, a horizontal linear sliding table clamping device, a stepping motor, a motor driver, a motion control card, an image collection card, an imaging processing module and a PC. The rotating arc torch is installed on the horizontal linear sliding table, and along with swing of the horizontal linear sliding table, the rotating arc torch performs integral horizontal swing. The CCD camera is adopted to accurately acquire a workpiece groove; if the groove width is changed in the rotating arc welding process, a swing mode is started, and the horizontal linear sliding table is driven by the stepping motor to achieve integral horizontal swing of the rotating arc torch in the arc rotating process. The groove-width-varying rotating arc narrow gap MAG welding self-adaptive swing device is combined with the advantages of rotating arc and swing arc, the problem of side wall penetration insufficiency caused by groove changes caused by processing errors or assembly errors can be solved, and the device is simple, reliable and high in applicability.

Description

Become the narrow gap MAG weldering self adaptation pendulous device of rotating the arc and the method for groove width
Technical field
The present invention relates to a kind of narrow gap MAG weldering self adaptation pendulous device of rotating the arc and method that becomes groove width, belong to Automation of Welding field.
Background technology
Narrow gap MIG/MAG weldering is a kind of multilayer welding method of carrying out under narrow groove condition, the general automated manner welding with every layer of single track or every layer of two pass, there is the advantages such as groove simple shape, section of weld joint are long-pending little, welding efficiency is high, less energy consumption, sweating heat input is low, welding heat affected zone is little, joint toughness is good, in cut deal field, applied widely.For guaranteeing welding quality, need to guarantee that sidewall has enough fusion penetrations.
In order to solve Narrow sloping-glot sidewall penetration problem, successively develop kinds of processes technology both at home and abroad, mainly contain: (patent No. is ZL 200810236274.5 in rocking arc narrow clearance weldering, name is called " rocking arc narrow clearance melting electrode gas-shield welding method and welding torch "), (patent No. is ZL 200510038527.4 in rotating the arc narrow gap welding, name is called " rotary electric arc narrow gap welding method and device that hollow shaft motor drives ") etc., but in welding process, often be subject to groove mismachining tolerance, workpiece rigging error, seam is curvature fixedly, the impact of the factors such as sweating heat distortion, be difficult to guarantee enough sidewall penetrations, and then affect welding quality.At document " the gun welder space gesture identification based on swing rotary electric arc " (Li Xiangwen etc., welding journal, 2013, the 34th volume, the 4th phase, 35～37,52 pages) in, proposing a kind of swing rotary electric arc sensing scheme, is in conjunction with circular cone, to swing on the basis of rotary arc sensor, carries out the Real time identification of the spatial attitude of welding gun, but install more complicated, and research identification gun welder space gesture just.
For ubiquitous problem in above-mentioned electric arc Application in Sensing, the present invention proposes a kind of narrow gap MAG weldering self adaptation pendulous device of rotating the arc and method that becomes groove width, also there is no the report of the documents such as Patents at present.
Summary of the invention
While the object of the invention is for narrow gap welding, the groove width causing due to mismachining tolerance or rigging error changes the problem of the sidewall penetration deficiency of bringing, and proposes a kind of narrow gap MAG weldering self adaptation pendulous device of rotating the arc and method that becomes groove width.
For achieving the above object, the technical scheme that technical solution problem of the present invention is taked is:
A kind of narrow gap MAG weldering of rotating the arc self adaptation pendulous device that becomes groove width, comprise rotating the arc welding torch, CCD camera, horizontal linear slide unit, horizontal linear slide unit clamping device, stepper motor, motor driver, motion control card, image pick-up card, image processing module and PC, it is characterized in that, described rotating the arc welding torch is arranged on horizontal linear slide unit, along with horizontal linear slide unit left and right moves back and forth, realize rotating the arc welding torch and do integral level swing; The corresponding workpiece of described CCD camera and workpiece planarization have angle and are placed in described rotating the arc welding torch the place ahead, described horizontal linear slide unit is arranged on horizontal linear slide unit clamping device, and connecting successively stepper motor, motor driver, motion control card, described CCD camera is by gathered image input picture capture card, image processing module and PC according to this.
Electric arc rotational position sensor is also housed on arc torch described above, the code-disc that is had two holes or groove by groove type optoelectronic switch and mistake Central Symmetry forms, what the groove of described groove type optoelectronic switch was inserted in that described code-disc is fixed on described rotating the arc welding torch does not rotate position, and described code-disc is fixed on the rotation position of described rotating the arc welding torch and synchronizes and rotate with electric arc; While making electric arc rotate to the left position of groove and the right position of groove during installation, the light path of groove type optoelectronic switch is just in time passed perforate or the groove of code-disc.In this patent, groove left and right position is to determine according to the orientation of CCD camera observation groove, below repeats no more.
The distance of camera lens electric arc of CCD camera described above is 200～500mm, and the front end of CCD camera is also provided with light damping plate, optical filter and UV mirror.
CCD camera described above and workpiece planarization angle are α=20～60 °.
The welding method that becomes the narrow gap MAG weldering of the rotating the arc self adaptation pendulous device of groove width, comprises the following steps:
(1) set CCD camera parameter, time for exposure is that 2～10ms, form size adjustment are advisable to welding arc and welding pool with energy clear view, is generally greater than 200 * 200, is less than 800 * 800, aperture size is 5.6～16, and image acquisition modality is trigger mode;
(2) groove sidewall is arrived apart from setting Dset in default groove width setting Wset and welding wire end;
(3) after the starting the arc, to be welded in stable condition after, start " triggering IMAQ " pattern of CCD camera, while making electric arc rotate to the left position of bevel for welding and the right position of bevel for welding, electric arc rotational position sensor sends pulse triggering signal, trigger CCD collected by camera welding image, CCD camera gathers two width welding images at each electric arc swing circle;
(4) welding image of CCD collected by camera enters image processing module through image pick-up card;
(5) in image processing module, calculate current groove width W, current welding wire end to groove left side wall beeline D 1, current welding wire end is to groove right side wall beeline D 2;
(6) by the current groove width W of step (5) gained, start weave mode, when current groove width W is greater than default groove width setting Wset, start weave mode, by motion control card, issue instructions to motor driver, Driving Stepping Motor swings horizontal linear slide unit, and then realizes the horizontal hunting of welding torch integral body; Hunting period and amplitude by the current welding wire of step (5) gained end to groove sidewall beeline D 1, D 2institute determines, target is to make in swing process welding wire end equal welding wire end to groove sidewall beeline to arrive groove sidewall apart from setting Dset, thereby obtains even sidewall fusion penetration; When current groove width W is equal to or less than default groove width setting Wset, do not start weave mode.
Above-mentioned steps (5) is described calculates current groove width W and current welding wire end to groove sidewall beeline D in image processing module 1, D 2concrete grammar is:
(A) get the welding image of the individual electric arc swing circle of n (2≤n≤20), each width welding image is extracted to the horizontal level Ci of its arc center, groove left and right edges horizontal level li, ri, wherein i represents i width image, 1≤i≤n;
(B) to the horizontal level Ci of arc center (1≤i≤n) averaged of this n width welding image as center basic point Cmean;
(C) this n width welding image is divided into two groups, the first horizontal level Ci of Zu Wei arc center is greater than center basic point Cmean, and asking for its mean value is the position C that electric arc rotates to the rightmost side right; The second horizontal level Ci of Zu Wei arc center is less than center basic point Cmean, and asking for its mean value is the position C that electric arc rotates to the leftmost side left;
(D) by reducing the interference of arc light to close groove sidewall edge extraction, the groove left hand edge horizontal level l to the first bond pads image iaveraged is as current bevel for welding left hand edge horizontal level L, the groove right hand edge horizontal level r to the second bond pads image iaveraged is as current bevel for welding right hand edge horizontal level R;
(E) electric arc rotates to the position C of the leftmost side leftdistance to current bevel for welding left hand edge horizontal level L is that welding wire end is to groove left side wall beeline d 1; Electric arc rotates to the position C of the rightmost side rightdistance to current bevel for welding right hand edge horizontal level R is that welding wire end is to groove right side wall beeline d 2, the distance of current bevel for welding right hand edge horizontal level R and current bevel for welding left hand edge horizontal level L is current groove width w;
(6) according to the ratio of image distance and actual range, by d 1, d 2convert actual welding wire end to groove sidewall beeline D 1, D 2, current groove width w is converted to the groove width W of current reality.
The welding image of getting the individual electric arc swing circle of n (2≤n≤20) that above-mentioned steps (A) is described, extracts the horizontal level Ci of its arc center to each width welding image, groove left and right edges horizontal level l i, r i, wherein representing i width image (1≤i≤n), its concrete grammar is:
(a) each width welding image is added up respectively to its grey level histogram;
(b) number maximum gradation value existing in the grey level histogram of each width welding image being subtracted in 0～15 obtains threshold value TH 1, and utilize TH 1its corresponding welding image is carried out to Threshold segmentation and identify arc zone, determine each horizontal level Ci of width welding image arc center, i represents i width image, as follows;
(c) gray value that in the grey level histogram of each width welding image, first maximum peak value is corresponding is added in the scope of certain value p (5≤p≤25) to first maximum peak value corresponding grey scale value, ask for minimum of a value and obtain threshold value TH 2image is carried out to Threshold segmentation, identify bevel for welding mother metal district;
(d) to getting j bar detection level line in the scope of each width welding image individual bevel for welding width of distance (0～1/4) above arc center's horizontal level, wherein j is odd number;
(e) at every horizontal line, from left to right calculate successively current pixel point gray value (its value is 0 or 1) and close on right pixels point gray value (its value is 0 or 1) difference, as the gray value of current pixel point;
(f) j bar horizontal line gained left hand edge point is asked for to intermediate value as the left hand edge horizontal level l of i width image bevel for welding i, j bar horizontal line gained right hand edge point is asked for to intermediate value as the right hand edge horizontal level r of i width image bevel for welding i.
Beneficial effect of the present invention:
A kind of narrow gap MAG weldering self adaptation pendulous device of rotating the arc and method that becomes groove width of the present invention, by adopting CCD camera Obtaining Accurate workpiece grooves width, if groove width changes in rotating the arc welding process, by stepper motor, drive horizontal linear slide block to realize the integral level of welding torch in electric arc rotary course and swing.The present invention is in conjunction with the advantage of rotating the arc and swing arc, can overcome the groove being caused by mismachining tolerance or rigging error and change the sidewall penetration problem of bringing, and installs simple and reliablely, and applicability is strong.
Accompanying drawing explanation
Fig. 1 is a kind of structure block diagram that becomes the narrow gap MAG weldering of the rotating the arc self adaptation pendulous device of groove width of the present invention;
Fig. 2 is the welding torch arc rotational position sensor schematic diagram that powers on;
Fig. 3 is the grey level histogram of welding image;
Fig. 4 is rotating the arc welding torch horizontal hunting flow chart;
Fig. 5 is for determining that actual groove width W and actual welding wire end are to groove sidewall beeline D 1, D 2flow chart;
Fig. 6 is for determining arc center's horizontal level of every width image and the flow chart of bevelled edge horizontal level;
Fig. 7 be bevelled edge identification and welding wire end to groove left and right sides span from result figure, wherein scheming (a) is the horizontal level Ci of arc center of i (1≤i≤n) width image, groove left and right edges horizontal level li, ri; Figure (b) is for welding wire end is to groove left side beeline d 1schematic diagram; Figure (c) is for welding wire end is to groove right side beeline d 2schematic diagram.
The specific embodiment
For making object and the technical scheme of the embodiment of the present invention clearer, below in conjunction with the accompanying drawing of the embodiment of the present invention, the technical scheme of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is a part of embodiment of the present invention, rather than whole embodiment.Based on described embodiments of the invention, the every other embodiment that those of ordinary skills obtain under the prerequisite without creative work, belongs to the scope of protection of the invention.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (comprising technical term and scientific terminology) have with the present invention under the identical meaning of the general understanding of those of ordinary skill in field.Should also be understood that such as those terms that define in general dictionary and should be understood to have the consistent meaning of meaning in the context with prior art, unless and definition as here, can not explain by idealized or too formal implication.
The implication of " left and right " described in the present invention refers to the orientation of observing bevel for welding according to CCD camera determines, and reader is during over against accompanying drawing welding image, and reader's the left side is a left side, and the right of reader is the right side.
The implication of " connection " described in the present invention can be that the direct connection between parts can be also by the indirect connection of other parts between parts.
As shown in Figure 1, for the narrow gap MAG weldering of a kind of rotating the arc for becoming groove width of the present invention self adaptation pendulous device, comprise rotating the arc welding torch 1, CCD camera 2, horizontal linear slide unit 3, horizontal linear slide unit clamping device 4, stepper motor 5, motor driver 6, motion control card 7, PC 8, image processing module 9, image pick-up card 10, workpiece 11 etc.Rotating the arc welding torch 1 is arranged on horizontal linear slide unit 3, along with horizontal linear slide unit 3 left and right move back and forth, realizes rotating the arc welding torch 1 and does integral level swing; The corresponding workpiece 11 of CCD camera 2 becomes 30 ° of angles to be placed in the place ahead of rotating the arc welding torch 1 with workpiece 11 planes, horizontal linear slide unit 3 is arranged on horizontal linear slide unit clamping device 4, and connecting successively stepper motor 5, motor driver 6, motion control card 7, motion control card 7 accesses PCs 8.CCD camera 2 is gathered welding image input picture capture card 10, image processing module 9 according to this, and accesses PC 8.
Electric arc rotational position sensor is also housed on arc torch, as shown in Figure 2, the code-disc that is had two holes by groove type optoelectronic switch and mistake Central Symmetry forms, what the groove of groove type optoelectronic switch was inserted in that code-disc is fixed on rotating the arc welding torch does not rotate position, and code-disc is fixed on the rotation position of rotating the arc welding torch and synchronizes and rotate with electric arc; While making electric arc rotate to the left position of groove and the right position of groove during installation, the light path of groove type optoelectronic switch is just in time passed perforate or the groove of code-disc.In this patent, groove left and right position is to determine according to the orientation of CCD camera observation groove, below repeats no more.
The distance of camera lens electric arc of CCD camera is 400mm, and the front end of CCD camera is provided with 10% light damping plate, 1100nm optical filter and UV mirror.
A kind of welding method that becomes the narrow gap MAG weldering of the rotating the arc self adaptation pendulous device of groove width of the present invention, comprises the following steps, as shown in Figure 4:
(1) set CCD camera parameter, the time for exposure is that 3.5ms, form size adjustment are advisable to welding arc and welding pool with energy clear view, is 544 * 544 in this example, and aperture size is f8, and image acquisition modality is trigger mode;
(2) default groove width setting Wset is that 13mm and welding wire end are 3.5mm to groove sidewall apart from setting Dset;
(3) after the starting the arc, to be welded in stable condition after, start " triggering IMAQ " pattern of CCD camera, while making electric arc rotate to the left position of bevel for welding and the right position of bevel for welding, electric arc rotational position sensor sends pulse triggering signal, trigger CCD collected by camera welding image, CCD camera gathers two width welding images at each electric arc swing circle;
(4) welding image of CCD collected by camera enters image processing module through image pick-up card;
(5) in image processing module, calculate current groove width W, current welding wire end to groove left side wall beeline D 1, current welding wire end is to groove right side wall beeline D 2, as shown in Figure 5;
1) get the welding image of the individual electric arc swing circle of n (n=5), each width welding image is extracted to the horizontal level Ci of its arc center, groove left and right edges horizontal level l i, r i, as shown in Figure 6, wherein i represents i width image, 1≤i≤n;
1. each width welding image is added up respectively to its grey level histogram, as shown in Figure 3;
2. the maximum gradation value existing in the grey level histogram of each width welding image is subtracted to 1 and obtain threshold value TH 1, and utilize TH 1its corresponding welding image is carried out to Threshold segmentation and identify arc zone, determine each horizontal level Ci of width welding image arc center, i represents i width image, as follows;
3. the gray value that in the grey level histogram of each width welding image, first maximum peak value is corresponding is added to first maximum peak value corresponding grey scale value in 15 scope, ask for minimum of a value and obtain threshold value TH 2image is carried out to Threshold segmentation, identify bevel for welding mother metal district;
4. to getting j bar detection level line, wherein j=3 in the scope of each width welding image individual bevel for welding width of distance (0～1/4) above arc center's horizontal level;
5. at every horizontal line, from left to right calculate successively current pixel point gray value (its value is 0 or 1) and close on right pixels point gray value (its value is 0 or 1) difference, as the gray value of current pixel point;
6. j bar horizontal line gained left hand edge point is asked for to intermediate value as the left hand edge horizontal level l of i width image bevel for welding i, j bar horizontal line gained right hand edge point is asked for to intermediate value as the right hand edge horizontal level r of i width image bevel for welding i, as shown in Fig. 7 (a).
2) to the horizontal level Ci of arc center (1≤i≤n) averaged of this n width welding image as center basic point Cmean;
3) this n width welding image is divided into two groups, the first horizontal level Ci of Zu Wei arc center is greater than center basic point Cmean, and asking for its mean value is the position C that electric arc rotates to the rightmost side right; The second horizontal level Ci of Zu Wei arc center is less than center basic point Cmean, and asking for its mean value is the position C that electric arc rotates to the leftmost side left;
4) by reducing the interference of arc light to close groove sidewall edge extraction, the groove left hand edge horizontal level l to the first bond pads image iaveraged is as current bevel for welding left hand edge horizontal level L, the groove right hand edge horizontal level r to the second bond pads image iaveraged is as current bevel for welding right hand edge horizontal level R.
5) electric arc rotates to the position C of the leftmost side leftdistance to current bevel for welding left hand edge horizontal level L is that welding wire end is to groove left side wall beeline d 1; Electric arc rotates to the position C of the rightmost side rightdistance to current bevel for welding right hand edge horizontal level R is that welding wire end is to groove right side wall beeline d 2, as Fig. 7 (b), (c); The distance of current bevel for welding right hand edge horizontal level R and current bevel for welding left hand edge horizontal level L is current groove width w.
6) according to the ratio of image distance and actual range, by d 1, d 2convert actual welding wire end to groove sidewall beeline D 1, D 2, current groove width w is converted to the groove width W of current reality.
(6) to the current groove width W of step (5) gained, start weave mode, when current groove width W is greater than default groove width setting Wset, start weave mode, by motion control card, issue instructions to motor driver, Driving Stepping Motor swings horizontal linear slide unit, and then realizes the horizontal hunting of welding torch integral body; Hunting period and amplitude by the current welding wire of step (5) gained end to groove sidewall beeline D 1, D 2institute determines, target is to make in swing process welding wire end equal welding wire end to groove sidewall beeline to arrive groove sidewall apart from setting Dset, thereby obtains even sidewall fusion penetration; When current groove width W is equal to or less than default groove width Wset, do not start weave mode.
Above-described embodiment does not limit the present invention in any form, and all employings are equal to replaces or technical scheme that the form of equivalent transformation obtains, within all dropping on protection scope of the present invention.

Claims (7)

1. the narrow gap MAG of rotating the arc that becomes groove width welds self adaptation pendulous device, comprise rotating the arc welding torch, CCD camera, horizontal linear slide unit, horizontal linear slide unit clamping device, stepper motor, motor driver, motion control card, image pick-up card, image processing module and PC, it is characterized in that, described rotating the arc welding torch is arranged on horizontal linear slide unit, along with horizontal linear slide unit left and right moves back and forth, realize rotating the arc welding torch and do integral level swing; The corresponding workpiece of described CCD camera and workpiece planarization have angle and are placed in described rotating the arc welding torch the place ahead, described horizontal linear slide unit is arranged on horizontal linear slide unit clamping device, and connecting successively stepper motor, motor driver, motion control card, described CCD camera is by gathered welding image input picture capture card, image processing module and PC according to this.
2. a kind of narrow gap MAG of rotating the arc that becomes groove width welds self adaptation pendulous device according to claim 1, it is characterized in that, electric arc rotational position sensor is also housed on described arc torch, the code-disc that is had two holes or groove by groove type optoelectronic switch and mistake Central Symmetry forms, what the groove of described groove type optoelectronic switch was inserted in that described code-disc is fixed on described rotating the arc welding torch does not rotate position, and described code-disc is fixed on the rotation position of described rotating the arc welding torch and synchronizes and rotate with electric arc; While making electric arc rotate to the left position of groove and the right position of groove during installation, the light path of groove type optoelectronic switch is just in time passed perforate or the groove of code-disc.
3. a kind of narrow gap MAG of rotating the arc that becomes groove width welds self adaptation pendulous device according to claim 1, it is characterized in that, the distance of camera lens electric arc of described CCD camera is 200～500mm, and the front end of CCD camera is also provided with light damping plate, optical filter and UV mirror.
4. a kind of narrow gap MAG of rotating the arc that becomes groove width welds self adaptation pendulous device according to claim 1, it is characterized in that, described angle is α=20～60 °.
5. a kind of welding method that becomes the narrow gap MAG weldering of the rotating the arc self adaptation pendulous device of groove width as claimed in claim 1, is characterized in that, comprises the following steps:
(1) set CCD camera parameter, time for exposure is that 2～10ms, form size adjustment are advisable to welding arc and welding pool with energy clear view, is generally greater than 200 * 200, is less than 800 * 800, aperture size is 5.6～16, and image acquisition modality is trigger mode;
(2) groove sidewall is arrived apart from setting Dset in default groove width setting Wset and welding wire end;
(3) after the starting the arc, to be welded in stable condition after, start " triggering IMAQ " pattern of CCD camera, while making electric arc rotate to the left position of bevel for welding and the right position of bevel for welding, electric arc rotational position sensor sends pulse triggering signal, trigger CCD collected by camera welding image, CCD camera gathers two width welding images at each electric arc swing circle;
(4) welding image of CCD collected by camera enters image processing module through image pick-up card;
(5) in image processing module, calculate current groove width W, current welding wire end to groove left side wall beeline D 1, current welding wire end is to groove right side wall beeline D 2;
(6) by the current groove width W of step (5) gained, start weave mode, when current groove width W is greater than default groove width setting Wset, start weave mode, by motion control card, issue instructions to motor driver, Driving Stepping Motor swings horizontal linear slide unit, and then realizes the horizontal hunting of welding torch integral body; Hunting period and amplitude by the current welding wire of step (5) gained end to groove sidewall beeline D 1, D 2institute determines, target is to make in swing process welding wire end equal welding wire end to groove sidewall beeline to arrive groove sidewall apart from setting Dset, thereby obtains even sidewall fusion penetration; When current groove width W is equal to or less than default groove width setting Wset, do not start weave mode.
6. the welding method of the narrow gap MAG weldering of a kind of rotating the arc that becomes groove width according to claim 5 self adaptation pendulous device, is characterized in that: step (5) is described calculates current groove width W and current welding wire end to groove sidewall beeline D in image processing module 1, D 2concrete grammar be:
(A) get the welding image of the individual electric arc swing circle of n (2≤n≤20), each width welding image is extracted to the horizontal level Ci of its arc center, groove left and right edges horizontal level li, ri, wherein i represents i width image, 1≤i≤n;
(B) to the horizontal level Ci of arc center (1≤i≤n) averaged of this n width welding image as center basic point Cmean;
(C) this n width welding image is divided into two groups, the first horizontal level Ci of Zu Wei arc center is greater than center basic point Cmean, and asking for its mean value is the position Cright that electric arc rotates to the rightmost side; The second horizontal level Ci of Zu Wei arc center is less than center basic point Cmean, and asking for its mean value is the position Cleft that electric arc rotates to the leftmost side;
(D) by reducing the interference of arc light to close groove sidewall edge extraction, the groove left hand edge horizontal level l to the first bond pads image iaveraged is as current bevel for welding left hand edge horizontal level L, the groove right hand edge horizontal level r to the second bond pads image iaveraged is as current bevel for welding right hand edge horizontal level R;
(E) electric arc rotates to the position C of the leftmost side leftdistance to current bevel for welding left hand edge horizontal level L is that welding wire end is to groove left side wall beeline d 1; Electric arc rotates to the position C of the rightmost side rightdistance to current bevel for welding right hand edge horizontal level R is that welding wire end is to groove right side wall beeline d 2, the distance of current bevel for welding right hand edge horizontal level R and current bevel for welding left hand edge horizontal level L is current groove width w;
(F) according to the ratio of image distance and actual range, by d 1, d 2convert actual welding wire end to groove sidewall beeline D 1, D 2, current groove width w is converted to the groove width W of current reality.
7. the welding method that a kind of narrow gap MAG of rotating the arc that becomes groove width according to claim 6 welds self adaptation pendulous device, it is characterized in that: the welding image of getting the individual electric arc swing circle of n (2≤n≤20) that step (A) is described, each width welding image is extracted to the horizontal level Ci of its arc center, groove left and right edges horizontal level l i, r i, wherein i represents i width image (1≤i≤n), its concrete grammar is:
(a) each width welding image is added up respectively to its grey level histogram;
(b) number maximum gradation value existing in the grey level histogram of each width welding image being subtracted in 0～15 obtains threshold value TH 1, and utilize TH 1its corresponding welding image is carried out to Threshold segmentation and identify arc zone, determine each horizontal level Ci of width welding image arc center, i represents i width image;
(c) gray value that in the grey level histogram of each width welding image, first maximum peak value is corresponding is added in the scope of certain value p (5≤p≤25) to first maximum peak value corresponding grey scale value, ask for minimum of a value and obtain threshold value TH 2image is carried out to Threshold segmentation, identify bevel for welding mother metal district;
(d) to getting j bar detection level line in the scope of each width welding image individual bevel for welding width of distance (0～1/4) above arc center's horizontal level, wherein j is odd number;
(e) at every horizontal line, from left to right calculate successively current pixel point gray value (its value is 0 or 1) and close on right pixels point gray value (its value is 0 or 1) difference, as the gray value of current pixel point;
(f) j bar horizontal line gained left hand edge point is asked for to intermediate value as the left hand edge horizontal level l of i width image bevel for welding i, j bar horizontal line gained right hand edge point is asked for to intermediate value as the right hand edge horizontal level r of i width image bevel for welding i.
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