CN105160645A - 跟踪焊缝位置的焊炬位移控制系统 - Google Patents
跟踪焊缝位置的焊炬位移控制系统 Download PDFInfo
- Publication number
- CN105160645A CN105160645A CN201510641677.8A CN201510641677A CN105160645A CN 105160645 A CN105160645 A CN 105160645A CN 201510641677 A CN201510641677 A CN 201510641677A CN 105160645 A CN105160645 A CN 105160645A
- Authority
- CN
- China
- Prior art keywords
- welding
- image
- welding torch
- pixel
- weld
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- 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
- B23K5/00—Gas flame welding
- B23K5/22—Auxiliary equipment, e.g. backings, guides
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Image Processing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510641677.8A CN105160645B (zh) | 2015-01-24 | 2015-01-24 | 跟踪焊缝位置的焊炬位移控制系统 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510641677.8A CN105160645B (zh) | 2015-01-24 | 2015-01-24 | 跟踪焊缝位置的焊炬位移控制系统 |
CN201510036997.0A CN104526213B (zh) | 2015-01-24 | 2015-01-24 | 跟踪焊缝位置的焊炬位移控制系统 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510036997.0A Division CN104526213B (zh) | 2015-01-24 | 2015-01-24 | 跟踪焊缝位置的焊炬位移控制系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105160645A true CN105160645A (zh) | 2015-12-16 |
CN105160645B CN105160645B (zh) | 2017-09-19 |
Family
ID=52841941
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510641677.8A Active CN105160645B (zh) | 2015-01-24 | 2015-01-24 | 跟踪焊缝位置的焊炬位移控制系统 |
CN201510036997.0A Active CN104526213B (zh) | 2015-01-24 | 2015-01-24 | 跟踪焊缝位置的焊炬位移控制系统 |
CN201510641723.4A Active CN105149823B (zh) | 2015-01-24 | 2015-01-24 | 跟踪焊缝位置的焊炬位移控制系统 |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510036997.0A Active CN104526213B (zh) | 2015-01-24 | 2015-01-24 | 跟踪焊缝位置的焊炬位移控制系统 |
CN201510641723.4A Active CN105149823B (zh) | 2015-01-24 | 2015-01-24 | 跟踪焊缝位置的焊炬位移控制系统 |
Country Status (1)
Country | Link |
---|---|
CN (3) | CN105160645B (zh) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106851062A (zh) * | 2017-02-04 | 2017-06-13 | 同济大学 | 一种基于机器视觉的焊缝识别装置 |
CN108705539A (zh) * | 2018-04-10 | 2018-10-26 | 柳州铁道职业技术学院 | 焊缝磨抛机器人控制系统及其方法 |
CN108713223A (zh) * | 2016-01-08 | 2018-10-26 | 伊利诺斯工具制品有限公司 | 提供焊接训练的系统和方法 |
US10672294B2 (en) | 2016-01-08 | 2020-06-02 | Illinois Tool Works Inc. | Systems and methods to provide weld training |
CN111940967A (zh) * | 2019-05-14 | 2020-11-17 | 四川蓉诺科技有限公司 | 多功能同步传感运用的合缝焊一体机 |
US10909872B2 (en) | 2016-01-08 | 2021-02-02 | Illinois Tool Works Inc. | Systems and methods to provide weld training |
US11322037B2 (en) | 2019-11-25 | 2022-05-03 | Illinois Tool Works Inc. | Weld training simulations using mobile devices, modular workpieces, and simulated welding equipment |
US11450233B2 (en) | 2019-02-19 | 2022-09-20 | Illinois Tool Works Inc. | Systems for simulating joining operations using mobile devices |
US11521512B2 (en) | 2019-02-19 | 2022-12-06 | Illinois Tool Works Inc. | Systems for simulating joining operations using mobile devices |
US11721231B2 (en) | 2019-11-25 | 2023-08-08 | Illinois Tool Works Inc. | Weld training simulations using mobile devices, modular workpieces, and simulated welding equipment |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106271235B (zh) * | 2015-05-27 | 2020-05-08 | 上海气焊机厂有限公司 | 基于机器视觉的焊道定位方法及装置 |
CN105014195A (zh) * | 2015-08-04 | 2015-11-04 | 李舒曼 | 一种提高图像处理精度的水下焊缝搜索方法 |
CN105149735B (zh) * | 2015-10-08 | 2017-01-25 | 中国石油天然气集团公司 | 一种焊枪位置调节系统 |
CN106826012B (zh) * | 2017-01-18 | 2019-03-05 | 浙江鑫桦钢管有限公司 | 一种红外线引导的焊接设备 |
CN109317821A (zh) * | 2017-07-24 | 2019-02-12 | 北京中科镭特电子有限公司 | 一种激光焊接系统 |
CN110347093A (zh) * | 2019-08-03 | 2019-10-18 | 山东大庚工程材料科技有限公司 | 一种高强智能整体格栅焊接设备控制系统 |
CN110497121A (zh) * | 2019-08-05 | 2019-11-26 | 苏州热工研究院有限公司 | 一种焊接过程中焊道中心跟踪的图像处理模式 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060090848A1 (en) * | 2004-10-29 | 2006-05-04 | Norihisa Koga | Laser processing apparatus and laser processing method |
CN101486124A (zh) * | 2009-02-13 | 2009-07-22 | 南京工程学院 | 多结构光双目复合视觉焊缝跟踪方法及装置 |
CN201313218Y (zh) * | 2008-11-19 | 2009-09-23 | 上海沪工电焊机制造有限公司 | 基于dsp的焊缝位置实时检测系统 |
WO2012094689A1 (de) * | 2011-01-10 | 2012-07-19 | Fronius International Gmbh | Verfahren zum einlernen/prüfen eines bewegungsablaufs eines schweissroboters, schweissroboters und steuerung dazu |
CN102814574A (zh) * | 2012-09-06 | 2012-12-12 | 江苏科技大学 | 基于红外视觉传感的窄间隙焊接监控及焊缝偏差检测方法 |
CN103464869A (zh) * | 2013-08-26 | 2013-12-25 | 江苏科技大学 | 基于视觉传感的旋转电弧窄间隙mag焊焊缝偏差识别装置和方法 |
CN104002021A (zh) * | 2014-06-06 | 2014-08-27 | 哈尔滨工业大学 | 用于多层多道焊道自动识别与跟踪的装置 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3646309A (en) * | 1971-01-26 | 1972-02-29 | Atomic Energy Commission | Self-adaptive welding torch controller |
JP2606045B2 (ja) * | 1992-03-16 | 1997-04-30 | 住友金属工業株式会社 | 溶接形鋼のビード除去部監視方法 |
CA2265215C (en) * | 1998-04-02 | 2004-06-22 | Lincoln Global, Inc. | Welding monitoring system |
JP3806342B2 (ja) * | 2001-11-26 | 2006-08-09 | 三菱重工業株式会社 | 3次元形状物溶接方法及びその装置 |
CN201760714U (zh) * | 2010-07-06 | 2011-03-16 | 张家港市盛天金属线有限公司 | 一种焊缝自动控制系统 |
CN102172806B (zh) * | 2010-12-01 | 2013-07-31 | 李光 | 基于图像识别技术的全自动焊接系统及其运行方法 |
CN202607049U (zh) * | 2012-06-07 | 2012-12-19 | 中国东方电气集团有限公司 | 一种带图像监控的轮式自主移动焊接机器人控制系统 |
CN103008931B (zh) * | 2012-12-14 | 2015-08-12 | 奇瑞汽车股份有限公司 | 一种新型焊接控制系统以及其控制方法 |
CN103192165A (zh) * | 2013-03-20 | 2013-07-10 | 黑龙江科技学院 | 基于视觉跟踪的六自由度焊接机器人 |
CN103170778B (zh) * | 2013-04-01 | 2015-06-24 | 大连海事大学 | 一种焊缝自动跟踪系统 |
CN204397213U (zh) * | 2015-01-24 | 2015-06-17 | 无锡桑尼安科技有限公司 | 跟踪焊缝位置的焊炬位移控制系统 |
-
2015
- 2015-01-24 CN CN201510641677.8A patent/CN105160645B/zh active Active
- 2015-01-24 CN CN201510036997.0A patent/CN104526213B/zh active Active
- 2015-01-24 CN CN201510641723.4A patent/CN105149823B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060090848A1 (en) * | 2004-10-29 | 2006-05-04 | Norihisa Koga | Laser processing apparatus and laser processing method |
CN201313218Y (zh) * | 2008-11-19 | 2009-09-23 | 上海沪工电焊机制造有限公司 | 基于dsp的焊缝位置实时检测系统 |
CN101486124A (zh) * | 2009-02-13 | 2009-07-22 | 南京工程学院 | 多结构光双目复合视觉焊缝跟踪方法及装置 |
WO2012094689A1 (de) * | 2011-01-10 | 2012-07-19 | Fronius International Gmbh | Verfahren zum einlernen/prüfen eines bewegungsablaufs eines schweissroboters, schweissroboters und steuerung dazu |
CN102814574A (zh) * | 2012-09-06 | 2012-12-12 | 江苏科技大学 | 基于红外视觉传感的窄间隙焊接监控及焊缝偏差检测方法 |
CN103464869A (zh) * | 2013-08-26 | 2013-12-25 | 江苏科技大学 | 基于视觉传感的旋转电弧窄间隙mag焊焊缝偏差识别装置和方法 |
CN104002021A (zh) * | 2014-06-06 | 2014-08-27 | 哈尔滨工业大学 | 用于多层多道焊道自动识别与跟踪的装置 |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11257395B2 (en) | 2016-01-08 | 2022-02-22 | Illinois Tool Works Inc. | Systems and methods to provide weld training |
US11670191B2 (en) | 2016-01-08 | 2023-06-06 | Illinois Tool Works Inc. | Systems and methods to provide weld training |
CN108713223A (zh) * | 2016-01-08 | 2018-10-26 | 伊利诺斯工具制品有限公司 | 提供焊接训练的系统和方法 |
US10672294B2 (en) | 2016-01-08 | 2020-06-02 | Illinois Tool Works Inc. | Systems and methods to provide weld training |
US10909872B2 (en) | 2016-01-08 | 2021-02-02 | Illinois Tool Works Inc. | Systems and methods to provide weld training |
US11961417B2 (en) | 2016-01-08 | 2024-04-16 | Illinois Tool Works Inc. | Systems and methods to provide weld training |
CN106851062A (zh) * | 2017-02-04 | 2017-06-13 | 同济大学 | 一种基于机器视觉的焊缝识别装置 |
CN108705539A (zh) * | 2018-04-10 | 2018-10-26 | 柳州铁道职业技术学院 | 焊缝磨抛机器人控制系统及其方法 |
US11967249B2 (en) | 2019-02-19 | 2024-04-23 | Illinois Tool Works Inc. | Systems for simulating joining operations using mobile devices |
US11450233B2 (en) | 2019-02-19 | 2022-09-20 | Illinois Tool Works Inc. | Systems for simulating joining operations using mobile devices |
US11521512B2 (en) | 2019-02-19 | 2022-12-06 | Illinois Tool Works Inc. | Systems for simulating joining operations using mobile devices |
CN111940967A (zh) * | 2019-05-14 | 2020-11-17 | 四川蓉诺科技有限公司 | 多功能同步传感运用的合缝焊一体机 |
US11721231B2 (en) | 2019-11-25 | 2023-08-08 | Illinois Tool Works Inc. | Weld training simulations using mobile devices, modular workpieces, and simulated welding equipment |
US11645936B2 (en) | 2019-11-25 | 2023-05-09 | Illinois Tool Works Inc. | Weld training simulations using mobile devices, modular workpieces, and simulated welding equipment |
US11322037B2 (en) | 2019-11-25 | 2022-05-03 | Illinois Tool Works Inc. | Weld training simulations using mobile devices, modular workpieces, and simulated welding equipment |
Also Published As
Publication number | Publication date |
---|---|
CN105149823B (zh) | 2017-03-22 |
CN105160645B (zh) | 2017-09-19 |
CN105149823A (zh) | 2015-12-16 |
CN104526213B (zh) | 2016-01-06 |
CN104526213A (zh) | 2015-04-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN104526213B (zh) | 跟踪焊缝位置的焊炬位移控制系统 | |
CN204397213U (zh) | 跟踪焊缝位置的焊炬位移控制系统 | |
CN104625311B (zh) | 一种跟踪焊缝位置的焊炬位移控制方法 | |
CN104588838B (zh) | 一种焊枪自动跟踪控制并在线修正系统及其控制方法 | |
JP5338890B2 (ja) | レーザ溶接の溶接位置検出装置および溶接位置検出方法 | |
CN108288288B (zh) | 基于视觉识别的精密轴尺寸测量方法、装置和系统 | |
CN106041258A (zh) | 一种智能化机器人焊接系统 | |
CN111618396A (zh) | 基于视觉表征的多层多道焊接装置及焊接方法 | |
CN113465511B (zh) | 一种钢卷尺寸在线测量及全方位端面缺陷在线检测方法 | |
CN101986143A (zh) | 机器视觉皮带撕裂检测及保护装置 | |
CN101219498A (zh) | 视频摄像传感器tig焊焊缝自动跟踪与控制装置 | |
CN104070264B (zh) | 变坡口宽度的旋转电弧窄间隙mag焊自适应摆动装置和方法 | |
CN103862142A (zh) | 正交异性板u形肋角焊缝机器人平位单道对称焊方法 | |
DK2249575T3 (da) | Billedkodningsfremgangsmåde og billedkodningsapparat | |
CN204382658U (zh) | 激光焊接装置 | |
CN110508906A (zh) | 一种机器人激光位移传感器寻位的方法 | |
CN101169826A (zh) | 基于机器视觉的排辊成形焊管质量在线监控系统 | |
CN109648202A (zh) | 非平整面自主识别机器人增材制造成形精度控制方法 | |
CN103567607A (zh) | 一种焊缝跟踪方法 | |
CN112756742A (zh) | 一种基于ERFNet网络的激光视觉焊缝跟踪系统 | |
CN107755847A (zh) | 一种选择性波峰焊装置及焊接方法 | |
CN112276312A (zh) | 瓜瓣焊接轨迹自识别的深窄间隙埋弧焊装置及焊接方法 | |
CN104148838A (zh) | 薄钢板焊缝小特征点视觉跟踪与实时质量检测装置 | |
CN106903425A (zh) | 用于处理工件的方法 | |
CN203992877U (zh) | 薄钢板焊缝小特征点视觉跟踪与实时质量检测装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information |
Inventor after: Jiang Caihan Inventor after: Gu Yunhui Inventor after: Zhang Dongcheng Inventor after: Gu Mingdong Inventor before: You Yunxing |
|
CB03 | Change of inventor or designer information | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20170814 Address after: 237000 Anhui Province, Lu'an City Economic Development Zone dawn dragon Zefu No. fortieth Applicant after: Lu'an Zhicheng Smart Technology Co. Ltd. Address before: 330069 No. 69 Feng Nan Road, Jiangxi, Nanchang Applicant before: Jiang Mei |
|
TA01 | Transfer of patent application right | ||
GR01 | Patent grant | ||
GR01 | Patent grant |