CN106181144B - A kind of detection method of concave welding bead position - Google Patents
A kind of detection method of concave welding bead position Download PDFInfo
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- CN106181144B CN106181144B CN201610561661.0A CN201610561661A CN106181144B CN 106181144 B CN106181144 B CN 106181144B CN 201610561661 A CN201610561661 A CN 201610561661A CN 106181144 B CN106181144 B CN 106181144B
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- laser
- welding bead
- weld
- fence
- face
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Classifications
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Abstract
This application discloses a kind of detection method of concave welding bead position, including：Above the face of weld with concave welding bead, fence laser aid is placed in parallel；It is pre-determined distance to adjust between the fence laser aid and the face of weld, and the pre-determined distance is that laser beam is irradiated to rebound back after the face of weld fence laser aid and the distance that can be received；The fence laser aid transmitting laser signal is opened, and receives the laser signal returned from the face of weld；The concave welding bead is positioned according to the laser signal of the return.Above-mentioned detection method can avoid aiding in the problem of video camera of welding bead positioning is by welding dust interference in welding shop, without cleaning camera lens dust at regular intervals, also testing cost can be substantially reduced, it is higher for the discrimination of some more complicated irregular welding beads, welding bead accurate and efficient positioning, it is simple to operate.
Description
Technical field
The invention belongs to welding technology field, more particularly to a kind of detection method of concave welding bead position.
Background technology
In automatic welding, welding bead detection is a very important link, and it, which is to ensure that, welds accurately and be molded matter
Measure high important prerequisite.The positioning of welding bead is not possible to precisely that the cracked welding bead of weld, undercut, lack of penetration etc. can be caused
Weld defect.
Welding bead location detecting technology is generally combined using laser scanning and ccd video camera technology at present and either passes through machine
The methods of device vision carries out edge detection to the image of acquisition, but be often filled with largely welding powder in welding shop
Dirt, these dust easily block camera lens so that final welding bead picture is full of various interference so that the positioning of welding bead is not
Precisely.
The content of the invention
To solve the above problems, the invention provides a kind of detection method of concave welding bead position, can avoid welding
The problem of video camera of welding bead positioning is by welding dust interference is aided in workshop, without cleaning camera lens powder at regular intervals
Dirt, testing cost can be also substantially reduced, higher for the discrimination of some more complicated irregular welding beads, welding bead positioning is accurate
Really efficiently, it is simple to operate.
A kind of detection method of concave welding bead position provided by the invention, including：
Above the face of weld with concave welding bead, fence laser aid is placed in parallel；
It is pre-determined distance to adjust between the fence laser aid and the face of weld, and the pre-determined distance is laser light
Beam is irradiated to rebound back after the face of weld fence laser aid and the distance that can be received；
The fence laser aid transmitting laser signal is opened, and receives the laser signal returned from the face of weld；
The concave welding bead is positioned according to the laser signal of the return.
Preferably, in the detection method of above-mentioned concave welding bead position,
It is described to open the fence laser aid transmitting laser signal, and receive the laser letter returned from the face of weld
Number include：
Radiating laser beams laser signal is to the face of weld；
Each laser inductor receives the laser signal each sent, wherein being irradiated to the non-of the face of weld
The laser of concave welding bead position can return to and be received, and the laser for being irradiated to the concave welding bead position not can return to.
Preferably, in the detection method of above-mentioned concave welding bead position,
Also include after the laser signal for receiving and being returned from the face of weld：
If the laser inductor can not receive the laser signal itself sent, by the laser inductor
Corresponding sensor position is arranged to 0；
If the laser inductor receives the laser signal itself sent, and the laser inductor is relative
The sensor position answered is arranged to 1.
Preferably, in the detection method of above-mentioned concave welding bead position,
The laser signal according to the return carries out positioning to the concave welding bead to be included：
Scan the sensor position；
By each progress xor operation adjacent with its right of the sensor position；
The result of the xor operation is obtained, is 1 sensor position meter using the sensor position and last position that first is 1
First coordinate at welding bead position midpoint is calculated, and deviates the mobile distance of coordinate scanning according to the fence laser aid and obtains second
Coordinate.
Preferably, in the detection method of above-mentioned concave welding bead position,
It is described above the face of weld with concave welding bead, being placed in parallel fence laser aid is：
Above the face of weld with concave welding bead, be placed in parallel laser aperture radius size scope for 0.1mm extremely
0.2mm fence laser aid.
Preferably, in the detection method of above-mentioned concave welding bead position,
The scope of the gap size between fence laser beam in the fence laser aid is 0.6mm to 1mm.
Preferably, in the detection method of above-mentioned concave welding bead position,
Include between the adjustment fence laser aid and the face of weld for pre-determined distance：
The position of the fixed laser Fencing system；
The position of the face of weld is adjusted, it is pre- to make between the position of the face of weld and the laser Fencing system
If distance.
By foregoing description, the detection method of above-mentioned concave welding bead position provided by the invention, because elder generation is having
Above the face of weld for having concave welding bead, fence laser aid is placed in parallel, then adjusts the fence laser aid and institute
It is pre-determined distance to state between face of weld, and the pre-determined distance is irradiated to after the face of weld institute that rebounds go back to for laser beam
Fence laser aid and the distance that can be received are stated, is then turned on the fence laser aid transmitting laser signal, and receive from institute
The laser signal of face of weld return is stated, finally the concave welding bead is positioned according to the laser signal of the return,
Therefore it can avoid aiding in the problem of video camera of welding bead positioning is by welding dust interference in welding shop, without every certain
Time cleans camera lens dust, testing cost can be also substantially reduced, for the discrimination of some more complicated irregular welding beads
Higher, welding bead accurate and efficient positioning is simple to operate.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the schematic diagram of the detection method for the first concave welding bead position that the embodiment of the present application provides；
Fig. 2 is the concave welding bead position detecting process schematic diagram that the embodiment of the present application provides.
Embodiment
The present invention core concept be to provide a kind of detection method of concave welding bead position, welding shop can be avoided
The problem of video camera of middle auxiliary welding bead positioning is by welding dust interference, without cleaning camera lens dust at regular intervals,
Testing cost can be substantially reduced, higher for the discrimination of some more complicated irregular welding beads, welding bead accurate positioning is high
Effect, it is simple to operate.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The detection method for the first concave welding bead position that the embodiment of the present application provides is as shown in figure 1, Fig. 1 is the application
The schematic diagram of the detection method for the first concave welding bead position that embodiment provides.This method comprises the following steps：
S1：Above the face of weld with concave welding bead, fence laser aid is placed in parallel；
It should be noted that must ensure that face of weld is parallel with fence laser aid, can so ensure every
The distance that beam of laser sends and returned is equal, so as to ensure the accuracy of detection.
S2：It is pre-determined distance to adjust between the fence laser aid and the face of weld, and the pre-determined distance is sharp
Light light beam is irradiated to rebound back after the face of weld fence laser aid and the distance that can be received；
In this step, the pre-determined distance is the vertical range of fence laser beam and face of weld, set it is this it is default away from
From purpose be to ensure that laser beam is irradiated to after face of weld to rebound and be received, reduce the range error of sensing
And the not accurate situation of the recognition effect brought.
S3：The fence laser aid transmitting laser signal is opened, and receives the laser letter returned from the face of weld
Number；
In this step, the laser signal of return is detected in the laser beam launched, wherein being radiated at non-welding bead position
Laser normally can return and be received, and the signal in the gully of welding bead is radiated at, due to the gap table between welding bead
Face and irradiation laser beam be not mutually perpendicular to, and with concave feature welding bead can increase between light source and reflecting surface away from
From detectable signal can not be reflected back on reflecting surface original road by being irradiated to the laser at zanjon gully welding bead, therefore can not receive return
Laser signal.This principle is based on, welding bead position and non-welding bead position can just be made a distinction, reaches detection welding bead
Purpose.
S4：The concave welding bead is positioned according to the laser signal of the return.
In this step, welding bead position can be positioned using many algorithms, including XOR algorithm, this just being capable of generation
For the complex path fitting in traditional laser scanning and genetic algorithm etc., streamline operation, processing speed is more
Fast, operating efficiency is improved, accuracy can also be guaranteed.
By foregoing description, the detection method for the above-mentioned concave welding bead position that the embodiment of the present application provides, due to
First above the face of weld with concave welding bead, fence laser aid is placed in parallel, then adjusts the fence laser dress
It is pre-determined distance to put between the face of weld, and it is anti-after the face of weld that the pre-determined distance is that laser beam is irradiated to
Rebound the fence laser aid and the distance that can be received, be then turned on the fence laser aid transmitting laser signal, and connect
The laser signal returned from the face of weld is received, finally the concave welding bead is carried out according to the laser signal of the return
Positioning, therefore can avoid aiding in the problem of video camera of welding bead positioning is by welding dust interference in welding shop, without every
Camera lens dust is cleaned every certain time, testing cost can be also substantially reduced, for some more complicated irregular welding beads
Discrimination is higher, welding bead accurate and efficient positioning, simple to operate.
The detection method for second of concave welding bead position that the embodiment of the present application provides, is in the first above-mentioned concave
On the basis of the detection method of welding bead position, in addition to following technical characteristic：
It is described to open the fence laser aid transmitting laser signal, and receive the laser letter returned from the face of weld
Number include：
Radiating laser beams laser signal is to the face of weld；
Each laser inductor receives the laser signal each sent, wherein being irradiated to the non-of the face of weld
The laser of concave welding bead position can return to and be received, and the laser for being irradiated to the concave welding bead position not can return to.
In this case, the laser inductor of multiple positions in fence laser aid is utilized, it becomes possible to which is told
A little positions have welding bead, and which position is not welding bead.
The detection method for the third concave welding bead position that the embodiment of the present application provides, is in above-mentioned second of concave
On the basis of the detection method of welding bead position, in addition to following technical characteristic：
Also include after the laser signal for receiving and being returned from the face of weld：
If the laser inductor can not receive the laser signal itself sent, by the laser inductor
Corresponding sensor position is arranged to 0；
If the laser inductor receives the laser signal itself sent, and the laser inductor is relative
The sensor position answered is arranged to 1.
In this case, using one-to-one sensor to whether receiving laser signal and being marked, Neng Gouzhun
The information of each test point is really recorded, and is easy to the judgement in follow-up process to welding bead position.
The detection method for the 4th kind of concave welding bead position that the embodiment of the present application provides, is in the third above-mentioned concave
On the basis of the detection method of welding bead position, in addition to following technical characteristic：
The laser signal according to the return carries out positioning to the concave welding bead to be included：
Scan the sensor position；
By each progress xor operation adjacent with its right of the sensor position；
The result of the xor operation is obtained, is 1 sensor position meter using the sensor position and last position that first is 1
First coordinate at welding bead position midpoint is calculated, and deviates the mobile distance of coordinate scanning according to the fence laser aid and obtains second
Coordinate.
In this case, the defects of of the prior art complex fitting is substituted to calculate using simple xor operation
Method, can streamline operation, improve efficiency, and the accuracy of testing result can be ensured.Specifically, as shown in Fig. 2 figure
2 be the concave welding bead position detecting process schematic diagram that the embodiment of the present application provides.Using welding bead bearing of trend as X-direction, weldering
Road cross-wise direction is Y direction, and the direction of fence raster scanning is X-axis positive direction, and beginning scanning element is the origin of coordinates, establishes one
Individual plane coordinate system, it is assumed that laser sensor position is encoded to when from left to right all sensors all receive reflected signal：
111111111, when being radiated at welding bead, sensor position is encoded to 111001011, and 1 among zero does not influence welding bead position
Judge.Scan fence laser beam each sensor position, and XOR carried out by each adjacent with the right one of sensor,
XOR between adjacent sensors such as is carried out by above-mentioned 111001011, obtains 001011100, checks the result of XOR, first
Position is Y3 for 1 sensor position coordinate, and last position is that 1 sensor position is Y7, and it is Yp=to calculate welding bead position midpoint Y-axis coordinate
(Y7-Y3)/2+Y3+ α, wherein α are offset of the Y direction in grating moving process in the Y-axis direction, X-axis coordinate foundation
Fence grating deviates the mobile distance of coordinate scanning and obtained, and is designated as Xp, then the position coordinates that can determine whether out welding bead midpoint is
(Xp, Yp).Explanation is needed exist for, when fence laser aid starts to start detection, now grating position is designated as sitting
Origin is marked, during Grating examinations, due to being moved along in X-direction, so to causing X-direction to have one partially
With a distance from the origin of coordinates, and due to welding bead be not it is straight forward, so also resulting in the Y-axis direction inclined
Move, so when welding bead coordinate is calculated, it should be taken into account that the offset of X-axis and Y-axis coordinate on respective direction.
The detection method for the 5th kind of concave welding bead position that the embodiment of the present application provides, be it is above-mentioned the first to the 4th
On the basis of the detection method of kind concave welding bead position, in addition to following technical characteristic：
It is described above the face of weld with concave welding bead, being placed in parallel fence laser aid is：
Above the face of weld with concave welding bead, be placed in parallel laser aperture radius size scope for 0.1mm extremely
0.2mm fence laser aid.Such superfine small laser fence is used to connect as the LASER Light Source and laser of welding bead detection
Device is received, can effectively check welding bead position place.
The detection method for the 6th kind of concave welding bead position that the embodiment of the present application provides, is in above-mentioned 5th kind of concave
On the basis of the detection method of welding bead position, in addition to following technical characteristic：
The scope of the gap size between fence laser beam in the fence laser aid is 0.6mm to 1mm.Need
Bright, a quarter of weld width is not to be exceeded in the interval location between the fence laser beam used, is guaranteed with this
Where more accurately identifying welding bead position, reduce the detection error brought due to the gap arrangement of laser irradiation.
The detection method for the 7th kind of concave welding bead position that the embodiment of the present application provides, is in the first above-mentioned concave
On the basis of the detection method of welding bead position, in addition to following technical characteristic：
Include between the adjustment fence laser aid and the face of weld for pre-determined distance：
The position of the fixed laser Fencing system；
The position of the face of weld is adjusted, it is pre- to make between the position of the face of weld and the laser Fencing system
If distance.
It should be noted that the sequencing of above-mentioned two step is not limited, the two can be exchanged, that is to say, that
The position of face of weld can also be first fixed, then the position of laser Fencing system is adjusted.
In summary, the detection method for the concave welding bead position that above-mentioned each embodiment provides, by combining fence light
The intensive light detection characteristic of grid, it is possible to achieve the welding bead that these have concave character to I types welding bead, V-type welding bead and U-shaped welding bead
Accurate detection, and can also detect class I types, class V-type and it is analog-U shaped these are in irregular shape, the complicated welding beads of type should
Laser fence used in method can be relatively conventional generating laser, without special laser, reduce cost, and
The defects of complex is substituted to be fitted using simple xor operation, operation is more simple, can ensure the effect of detection, to tool
The welding bead detection for having concave feature has high efficiency and reasonability, and this solves aid in welding bead in welding shop
The problem of video camera of positioning is often subject to weld dust interference, without asking for camera lens dust will be cleaned at regular intervals
Topic, the welding bead locating effect of realization is accurate, and accuracy is about 98%.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (4)
- A kind of 1. detection method of concave welding bead position, it is characterised in that including：Above the face of weld with concave welding bead, fence laser aid is placed in parallel；It is pre-determined distance to adjust between the fence laser aid and the face of weld, and the pre-determined distance irradiates for laser beam To the fence laser aid and the distance that can be received of rebounding back after the face of weld；The fence laser aid transmitting laser signal is opened, and receives the laser signal returned from the face of weld；The concave welding bead is positioned according to the laser signal of the return；It is described to open the fence laser aid transmitting laser signal, and receive the laser signal bag returned from the face of weld Include：Radiating laser beams laser signal is to the face of weld；Each laser inductor receives the laser signal each sent, wherein being irradiated to the non-concave surface of the face of weld The laser of type welding bead position can return to and be received, and the laser for being irradiated to the concave welding bead position not can return to；Also include after the laser signal for receiving and being returned from the face of weld：If the laser inductor can not receive the laser signal itself sent, and the laser inductor is relative The sensor position answered is arranged to 0；If the laser inductor receives the laser signal itself sent, and the laser inductor is corresponding Sensor position is arranged to 1；The laser signal according to the return carries out positioning to the concave welding bead to be included：Scan the sensor position；By each progress xor operation adjacent with its right of the sensor position；The result of the xor operation is obtained, is that 1 sensor position calculates weldering using the sensor position and last position that first is 1 First coordinate at road position midpoint, and deviate the mobile distance of coordinate scanning according to the fence laser aid and obtain the welding bead Second coordinate at position midpoint.
- 2. the detection method of concave welding bead position according to claim 1, it is characterised in thatIt is described above the face of weld with concave welding bead, being placed in parallel fence laser aid is：Above the face of weld with concave welding bead, it is 0.1mm to 0.2mm to be placed in parallel laser aperture radius size scope Fence laser aid.
- 3. the detection method of concave welding bead position according to claim 2, it is characterised in thatThe scope of the gap size between fence laser beam in the fence laser aid is 0.6mm to 1mm.
- 4. the detection method of concave welding bead position according to claim 1, it is characterised in thatInclude between the adjustment fence laser aid and the face of weld for pre-determined distance：The position of the fixed fence laser aid；Adjust the position of the face of weld, make be between the position of the face of weld and the fence laser aid it is default away from From.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610561661.0A CN106181144B (en) | 2016-07-13 | 2016-07-13 | A kind of detection method of concave welding bead position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610561661.0A CN106181144B (en) | 2016-07-13 | 2016-07-13 | A kind of detection method of concave welding bead position |
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| CN106181144A CN106181144A (en) | 2016-12-07 |
| CN106181144B true CN106181144B (en) | 2018-01-30 |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4225771A (en) * | 1979-04-25 | 1980-09-30 | Westinghouse Electric Corp. | Method and apparatus for monitoring arc welding |
| JPS57137089A (en) * | 1981-02-17 | 1982-08-24 | Toshiba Corp | Control method for welding state |
| JPS6332301A (en) * | 1986-07-25 | 1988-02-12 | Mitsubishi Heavy Ind Ltd | Welding position detecting device using optical fiber |
| CN102680496B (en) * | 2011-04-15 | 2016-04-20 | 京东方科技集团股份有限公司 | Detection device for foreign matter and method |
| JP5842851B2 (en) * | 2013-03-29 | 2016-01-13 | トヨタ自動車株式会社 | Welded part inspection device and inspection method |
| CN105643158B (en) * | 2016-03-22 | 2017-11-03 | 哈尔滨工业大学 | Adaptive seam laser scanning means and control method |
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2016
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