CN104070264B - The narrow gap MAG of rotating the arc becoming groove width welds self adaptation pendulous device and method - Google Patents

The narrow gap MAG of rotating the arc becoming groove width welds self adaptation pendulous device and method Download PDF

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CN104070264B
CN104070264B CN201410282830.8A CN201410282830A CN104070264B CN 104070264 B CN104070264 B CN 104070264B CN 201410282830 A CN201410282830 A CN 201410282830A CN 104070264 B CN104070264 B CN 104070264B
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welding
image
arc
width
groove
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CN104070264A (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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    • 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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  • Physics & Mathematics (AREA)
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  • Optics & Photonics (AREA)
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  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

The invention discloses a kind of narrow gap MAG of rotating the arc becoming groove width and weld self adaptation pendulous device and method, 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, PC.Rotating the arc welding torch is arranged on horizontal linear slide unit, and along with the swing of horizontal linear slide unit, rotating the arc welding torch is made integral level and swung.Adopt ccd video camera Obtaining Accurate workpiece grooves, if groove width changes in rotating the arc welding process, then start weave mode, realize the integral level of welding torch in electric arc rotary course by driving stepper motor horizontal linear slide unit and swing.The present invention is in conjunction with the advantage of rotating the arc and swing arc, and can overcome the groove caused by mismachining tolerance or rigging error and change the not enough problem of the sidewall penetration brought, device is simple and reliable, and applicability is strong.

Description

The narrow gap MAG of rotating the arc becoming groove width welds self adaptation pendulous device and method
Technical field
The present invention relates to a kind of narrow gap MAG of rotating the arc becoming groove width and weld self adaptation pendulous device and method, 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, generally with the automated manner welding of every layer of single track or every layer of two pass, have that bevel shape is simple, section of weld joint amasss the advantages such as little, welding efficiency is high, less energy consumption, thermal weld stress are low, welding heat affected zone is little, joint toughness is good, applied widely in cut deal field.For ensureing welding quality, need to ensure that sidewall has enough fusion penetrations.
In order to solve Narrow sloping-glot sidewall penetration problem, domestic and international priority develops kinds of processes technology, mainly contain: (patent No. is ZL200810236274.5 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 ZL200510038527.4 in rotating the arc narrow gap welding, name is called " rotary electric arc narrow gap welding method that hollow shaft motor drives and device ") etc., but in welding process, often be subject to retaining wall on slope error, workpiece rigging error, seam fixes curvature, the impact of the factors such as sweating heat distortion, be difficult to ensure 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, propose a kind of swing rotary arc sensing scheme, be swing in conjunction with circular cone on the basis of rotary arc sensor, carry out the Real time identification of the spatial attitude of welding gun, but device is more complicated, and just research identifies gun welder space gesture.
For ubiquitous problem in above-mentioned arc sensing application, the present invention proposes a kind of narrow gap MAG of rotating the arc becoming groove width and welds self adaptation pendulous device and method, does not also have the report of the documents such as Patents at present.
Summary of the invention
When the object of the invention is for narrow gap welding, the groove width caused due to mismachining tolerance or rigging error changes the problem of the sidewall penetration deficiency brought, and proposes a kind of narrow gap MAG of rotating the arc becoming groove width and welds self adaptation pendulous device and method.
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 of rotating the arc becoming 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 bilateral reciprocation, 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 front, described horizontal linear slide unit is arranged on horizontal linear slide unit clamping device, and connecting stepper motor, motor driver, motion control card successively, described CCD camera is by gathered image input picture capture card, image processing module and PC according to this.
Arc torch described above is also equipped with electric arc rotational position sensor, the code-disc being had two holes or groove by groove type optoelectronic switch and mistake Central Symmetry is formed, the groove of described groove type optoelectronic switch is inserted in the non rotating position that described code-disc is fixed on described rotating the arc welding torch, described code-disc be fixed on described rotating the arc welding torch rotation portion and with electric arc synchronous axial system; When making electric arc rotate to the left position of groove and groove right position during installation, the light path of groove type optoelectronic switch is right through the perforate of code-disc or groove.In this patent, groove left and right position observes the orientation of groove according to CCD camera and determines, and 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 narrow gap MAG of rotating the arc becoming groove width welds the welding method of self adaptation pendulous device, comprises the following steps:
(1) CCD camera parameter is set, time for exposure is 2 ~ 10ms, form size adjustment can clear view be advisable to welding arc and welding pool, be generally greater than 200 × 200, be less than 800 × 800, aperture size is 5.6 ~ 16, and image acquisition modality is trigger mode;
(2) default groove width setting Wset and welding wire end are to groove sidewall distance setting Dset;
(3) after the starting the arc, to be welded in stable condition after, start " trigger image collection " pattern of CCD camera, when 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 camera and gather welding image, CCD camera gathers two width welding images at each electric arc swing circle;
(4) welding image of CCD camera collection enters image processing module through image pick-up card;
(5) in image processing module, current groove width W, current welding wire end is calculated 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, motor driver is issued instructions to by motion control card, Driving Stepping Motor makes horizontal linear slide unit swing, and then realizes the horizontal hunting of welding torch entirety; Hunting period and amplitude by the current welding wire end of step (5) gained to groove sidewall beeline D 1, D 2determining, target makes welding wire end in swing process equal welding wire end to groove sidewall distance setting Dset to groove sidewall beeline, thus obtain even sidewall fusion penetration; When current groove width W is equal to or less than default groove width setting Wset, then do not start weave mode.
In image processing module, current groove width W and current welding wire end is calculated to groove sidewall beeline D described in above-mentioned steps (5) 1, D 2concrete grammar is:
(A) get the welding image of the individual electric arc swing circle of n (2≤n≤20), extract its arc center horizontal level Ci to each width welding image, groove left and right edges horizontal level li, ri, wherein i represents the i-th width image, 1≤i≤n;
(B) to arc center horizontal level Ci (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, first group is that arc center horizontal level Ci 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; Second group is that arc center horizontal level Ci 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 that arc light extracts close groove sidewall edge, to the groove left hand edge horizontal level l of the first bond pads image iaveraged as current bevel for welding left hand edge horizontal level L, to the groove right hand edge horizontal level r of 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 getting the individual electric arc swing circle of n (2≤n≤20) described in above-mentioned steps (A), extracts its arc center horizontal level Ci to each width welding image, groove left and right edges horizontal level l i, r i, wherein represent the i-th width image (1≤i≤n), its concrete grammar is:
A () adds up its grey level histogram respectively to each width welding image;
B () obtains threshold value TH to the number that the maximum gradation value existed in the grey level histogram of each width welding image subtracts in 0 ~ 15 1, and utilize TH 1carry out Threshold segmentation to identify arc zone to the welding image corresponding to it, determine each width welding image arc center horizontal level Ci, i represents the i-th width image, as follows;
C () gray value corresponding to first maximum peak value in the grey level histogram of each width welding image adds 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 2threshold segmentation is carried out to image, identifies bevel for welding mother metal district;
D () gets 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 () from left to right calculates current pixel point gray value (its value is 0 or 1) successively at every bar horizontal line and closes on right pixels point gray value (its value is 0 or 1) difference, as the gray value of current pixel point;
F () asks for the left hand edge horizontal level l of intermediate value as the i-th width image bevel for welding to j bar horizontal line gained left hand edge point i, the right hand edge horizontal level r of intermediate value as the i-th width image bevel for welding is asked for j bar horizontal line gained right hand edge point i.
Beneficial effect of the present invention:
A kind of narrow gap MAG of rotating the arc becoming groove width of the present invention welds self adaptation pendulous device and method, by adopting CCD camera Obtaining Accurate workpiece grooves width, if groove width change in rotating the arc welding process, realize the integral level of welding torch in electric arc rotary course by driving stepper motor horizontal linear slide block and swing.The present invention is in conjunction with the advantage of rotating the arc and swing arc, and can overcome the groove caused by mismachining tolerance or rigging error and change the sidewall penetration problem brought, device is simple and reliable, and applicability is strong.
Accompanying drawing explanation
Fig. 1 is the structure block diagram that a kind of narrow gap MAG of rotating the arc becoming groove width of the present invention welds self adaptation pendulous device;
Fig. 2 is that welding torch powers on arc rotational position sensor schematic diagram;
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 determines 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 scheme the arc center horizontal level Ci that (a) is i-th (1≤i≤n) width image, groove left and right edges horizontal level li, ri; Figure (b) is beeline d on the left of welding wire end to groove 1schematic diagram; Figure (c) is beeline d on the right side of welding wire end to groove 2schematic diagram.
Detailed description of the invention
For making the object of the embodiment of the present invention and technical scheme clearly, 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, instead of whole embodiments.Based on described embodiments of the invention, the every other embodiment that those of ordinary skill in the art obtain under without the need to the prerequisite of creative work, all belongs to the scope of protection of the invention.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, and all terms used herein (comprising technical term and scientific terminology) have the meaning identical with the general understanding of the those of ordinary skill in field belonging to the present invention.Should also be understood that those terms defined in such as general dictionary should be understood to have the meaning consistent with the meaning in the context of prior art, unless and define as here, can not explain by idealized or too formal implication.
The implication of " left and right " described in the present invention refer to the orientation observing bevel for welding according to CCD camera determine, when reader is just to accompanying drawing welding image, the left side of reader is a left side, and the right of reader is the right side.
The indirect connection that can be the direct connection between parts also can be by other parts between parts of the implication of " connection " described in the present invention.
As shown in Figure 1, for the narrow gap MAG of a kind of rotating the arc for becoming groove width of the present invention welds 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 bilateral reciprocation, 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 front of rotating the arc welding torch 1 with workpiece 11 plane, horizontal linear slide unit 3 is arranged on horizontal linear slide unit clamping device 4, and connecting stepper motor 5, motor driver 6, motion control card 7 successively, motion control card 7 accesses PC 8.CCD camera 2 by gathered welding image input picture capture card 10, image processing module 9 according to this, and accesses PC 8.
Arc torch is also equipped with electric arc rotational position sensor, as shown in Figure 2, the code-disc being had two holes by groove type optoelectronic switch and mistake Central Symmetry is formed, the groove of groove type optoelectronic switch is inserted in the non rotating position that code-disc is fixed on rotating the arc welding torch, code-disc be fixed on rotating the arc welding torch rotation portion and with electric arc synchronous axial system; When making electric arc rotate to the left position of groove and groove right position during installation, the light path of groove type optoelectronic switch is right through the perforate of code-disc or groove.In this patent, groove left and right position observes the orientation of groove according to CCD camera and determines, and 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 narrow gap MAG of rotating the arc becoming groove width of the present invention welds the welding method of self adaptation pendulous device, comprises the following steps, as shown in Figure 4:
(1) set CCD camera parameter, the time for exposure be 3.5ms, form size adjustment can clear view be advisable to welding arc and welding pool, be 544 × 544 in this example, aperture size is f8, and image acquisition modality is trigger mode;
(2) default groove width setting Wset is 13mm and welding wire end is 3.5mm to groove sidewall distance setting Dset;
(3) after the starting the arc, to be welded in stable condition after, start " trigger image collection " pattern of CCD camera, when 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 camera and gather welding image, CCD camera gathers two width welding images at each electric arc swing circle;
(4) welding image of CCD camera collection enters image processing module through image pick-up card;
(5) in image processing module, current groove width W, current welding wire end is calculated 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), its arc center horizontal level Ci is extracted to each width welding image, groove left and right edges horizontal level l i, r i, as shown in Figure 6, wherein i represents the i-th width image, 1≤i≤n;
1. its grey level histogram is added up respectively to each width welding image, as shown in Figure 3;
2. the maximum gradation value existed in the grey level histogram to each width welding image subtracts 1 and obtains threshold value TH 1, and utilize TH 1carry out Threshold segmentation to identify arc zone to the welding image corresponding to it, determine each width welding image arc center horizontal level Ci, i represents the i-th width image, as follows;
3. corresponding to first maximum peak value in the grey level histogram of each width welding image gray value adds in the scope of 15 to first maximum peak value corresponding grey scale value, asks for minimum of a value and obtains threshold value TH 2threshold segmentation is carried out to image, identifies bevel for welding mother metal district;
4. j bar detection level line is got in the scope to each width welding image individual bevel for welding width of distance (0 ~ 1/4) above arc center's horizontal level, wherein j=3;
5. from left to right calculate current pixel point gray value (its value is 0 or 1) successively at every bar horizontal line and close on right pixels point gray value (its value is 0 or 1) difference, as the gray value of current pixel point;
6. the left hand edge horizontal level l of intermediate value as the i-th width image bevel for welding is asked for j bar horizontal line gained left hand edge point i, the right hand edge horizontal level r of intermediate value as the i-th width image bevel for welding is asked for j bar horizontal line gained right hand edge point i, as shown in Fig. 7 (a).
2) to arc center horizontal level Ci (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, first group is that arc center horizontal level Ci 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; Second group is that arc center horizontal level Ci 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 that arc light extracts close groove sidewall edge, to the groove left hand edge horizontal level l of the first bond pads image iaveraged as current bevel for welding left hand edge horizontal level L, to the groove right hand edge horizontal level r of 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, motor driver is issued instructions to by motion control card, Driving Stepping Motor makes horizontal linear slide unit swing, and then realizes the horizontal hunting of welding torch entirety; Hunting period and amplitude by the current welding wire end of step (5) gained to groove sidewall beeline D 1, D 2determining, target makes welding wire end in swing process equal welding wire end to groove sidewall distance setting Dset to groove sidewall beeline, thus obtain even sidewall fusion penetration; When current groove width W is equal to or less than default groove width Wset, then do not start weave mode.
Above-described embodiment does not limit the present invention in any form, the technical scheme that the form that all employings are equal to replacement or equivalent transformation obtains, and all drops within protection scope of the present invention.

Claims (3)

1. one kind becomes the welding method of the rotating the arc narrow gap MAG weldering self adaptation pendulous device of groove width, based on 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, wherein said rotating the arc welding torch is arranged on horizontal linear slide unit, along with horizontal linear slide unit bilateral reciprocation, 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 front, described horizontal linear slide unit is arranged on horizontal linear slide unit clamping device, and connecting stepper motor, motor driver, motion control card successively, described CCD camera is by gathered welding image input picture capture card, image processing module and PC according to this; It is characterized in that, described welding method comprises the following steps:
(1) CCD camera parameter is set, time for exposure is 2 ~ 10ms, form size adjustment can clear view be advisable to welding arc and welding pool, be namely greater than 200 × 200, be less than 800 × 800, aperture size is 5.6 ~ 16, and image acquisition modality is trigger mode;
(2) default groove width setting Wset and welding wire end are to groove sidewall distance setting Dset;
(3) after the starting the arc, to be welded in stable condition after, start " trigger image collection " pattern of CCD camera, when 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 camera and gather welding image, CCD camera gathers two width welding images at each electric arc swing circle;
(4) welding image of CCD camera collection enters image processing module through image pick-up card;
(5) in image processing module, current groove width W, current welding wire end is calculated 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, motor driver is issued instructions to by motion control card, Driving Stepping Motor makes horizontal linear slide unit swing, and then realizes the horizontal hunting of welding torch entirety; Hunting period and amplitude by the current welding wire end of step (5) gained to groove sidewall beeline D 1, D 2determining, target makes welding wire end in swing process equal welding wire end to groove sidewall distance setting Dset to groove sidewall beeline, thus obtain even sidewall fusion penetration; When current groove width W is equal to or less than default groove width setting Wset, then do not start weave mode.
2. the narrow gap MAG of a kind of rotating the arc becoming groove width according to claim 1 welds the welding method of self adaptation pendulous device, it is characterized in that: in image processing module, calculate current groove width W and current welding wire end to groove sidewall beeline D described in step (5) 1, D 2concrete grammar be:
(A) get the welding image that n is 2 ~ 20 electric arc swing circles, extract its arc center horizontal level Ci to each width welding image, groove left and right edges horizontal level li, ri, wherein i represents the i-th width image, 1≤i≤n;
(B) to the arc center horizontal level Ci of this n width welding image, i.e. 1≤i≤n, averaged is as center basic point Cmean;
(C) this n width welding image is divided into two groups, first group is that arc center horizontal level Ci 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; Second group is that arc center horizontal level Ci 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 that arc light extracts close groove sidewall edge, to the groove left hand edge horizontal level l of the first bond pads image iaveraged as current bevel for welding left hand edge horizontal level L, to the groove right hand edge horizontal level r of the second bond pads image iaveraged is as current bevel for welding right hand edge horizontal level R;
(E) electric arc rotates to the distance of the position Cleft to current bevel for welding left hand edge horizontal level L of the leftmost side is that welding wire end is to groove left side wall beeline d 1; The distance that electric arc rotates to the position Cright to current bevel for welding right hand edge horizontal level R of the rightmost side 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.
3. a kind of narrow gap MAG of rotating the arc becoming groove width according to claim 2 welds the welding method of self adaptation pendulous device, it is characterized in that: described in step (A), get the welding image that n is 2 ~ 20 electric arc swing circles, its arc center horizontal level Ci is extracted to each width welding image, groove left and right edges horizontal level l i, r i, wherein i represents the i-th width image, i.e. 1≤i≤n, and its concrete grammar is:
A () adds up its grey level histogram respectively to each width welding image;
B () obtains threshold value TH to the number that the maximum gradation value existed in the grey level histogram of each width welding image subtracts in 0 ~ 15 1, and utilize TH 1carry out Threshold segmentation to identify arc zone to the welding image corresponding to it, determine each width welding image arc center horizontal level Ci, i represents the i-th width image;
C () gray value corresponding to first maximum peak value in the grey level histogram of each width welding image adds certain value p to first maximum peak value corresponding grey scale value is in the scope of 5 ~ 25, asks for minimum of a value and obtains threshold value TH 2threshold segmentation is carried out to image, identifies bevel for welding mother metal district;
D () is get j bar detection level line in the scope of 0 ~ 1/4 bevel for welding width to each width welding image distance above arc center's horizontal level, wherein j is odd number;
E () from left to right calculates current pixel point gray value and the difference of closing on right pixels point gray value successively at every bar horizontal line, as the gray value of current pixel point, and wherein current pixel point gray value and close on right pixels point gray value and be 0 or 1;
F () asks for the left hand edge horizontal level l of intermediate value as the i-th width image bevel for welding to j bar horizontal line gained left hand edge point i, the right hand edge horizontal level r of intermediate value as the i-th width image bevel for welding is asked for j bar horizontal line gained right hand edge point i.
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CN104785978B (en) * 2015-05-11 2017-03-15 武汉锂鑫自动化科技有限公司 A kind of U ribs welder and its adjustment mechanism
CN105171289B (en) * 2015-09-30 2017-10-31 厦门理工学院 Become the cut deal multi-layer multi-pass welding method for planning track of groove width
CN105741306A (en) * 2016-03-03 2016-07-06 上海交通大学 Penetration state determination method based on small hole characteristic on back side
CN105834554B (en) * 2016-04-08 2018-10-23 湘潭大学 A kind of self-adapting detecting control method of narrow gap welding molten wide
CN108746937B (en) * 2018-06-01 2021-01-15 武汉纳瑞格智能设备有限公司 Ultra-narrow gap MAG/MIG welding two-side-wall fusion control device based on fan-shaped swinging of welding gun
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CN114473133B (en) * 2020-10-26 2024-05-10 北京配天技术有限公司 Welding method for variable-width groove, mobile terminal and storage medium

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