CN107999930A - A kind of vision sensing equipment for weld joint tracking - Google Patents
A kind of vision sensing equipment for weld joint tracking Download PDFInfo
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- CN107999930A CN107999930A CN201810013161.2A CN201810013161A CN107999930A CN 107999930 A CN107999930 A CN 107999930A CN 201810013161 A CN201810013161 A CN 201810013161A CN 107999930 A CN107999930 A CN 107999930A
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- sliding block
- welding
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- electromagnet
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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
- 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
- B23K9/1276—Using non-contact, electric or magnetic means, e.g. inductive 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
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Geometry (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of vision sensing equipment for weld joint tracking, for realizing soldering joint automatic tracking jointly with magnetic control arc sensor.Welding starts anterior optic sensor and workpiece image to be welded is obtained under the conditions of dim light optical filter is not added with, and completes the identification of welding initial position and guiding and welding gun trajectory planning.And then visual sensor alignment welding gun is swung, sliding block 1 is loaded onto light hole automatically at this time, left-right deviation information when starting to obtain welding, weld joint tracking is realized in correction jointly with the deviation signal acquired in magnetic control arc sensor again, after the completion of the welding gun path for starting to obtain, need to swing visual sensor acquisition front weldment image again, visual sensor is loaded onto the progress continuous sampling of light hole butt-welding fitting image automatically from alignment torch swinging to sliding block 2 in workpiece vertical process, the deviation information that accurate weld image obtains with magnetic control arc sensor is obtained by image procossing accurately to track jointly, complete Automation of Welding.
Description
Technical field：
The present invention relates to a kind of vision sensing equipment for weld joint tracking, automatic welding field of sensing technologies.
Background technology
Tracking accuracy and stability for the complicated weld seam such as the larger seam track of degree of crook and broken line, dog-ear compared with
It is low, the information acquired in single-sensor often can only all reflect welding process in some terms, for needed for automatic welding
The complete information wanted obtains incomplete, it is difficult to ensures the accuracy and reliability of input information, therefore can not be precisely accomplished weld seam
From motion tracking.
At present, use must compare more visual sensors and only have a set of dim light optical filtering substantially in soldering joint automatic tracking field
Piece, thus can only obtain it is single under the conditions of weld image, main function is to obtain the left and right at Weld pipe mill and molten bath center
Deviation, realizes weld joint tracking.And the application such as guiding and autonomous seam tracking for weld seam initial position is also deficienter, so
Currently used for the visual sensor of weld joint tracking, there are function is single, versatility is low and the problem of very flexible.
The content of the invention：
In order to overcome deficiencies of the prior art, the present invention provides one kind and is used cooperatively with magnetic control arc sensor
Achievable dim light optical filter automatically switch vision sensing equipment.
The technical solution adopted by the present invention to solve the technical problems is：The present invention proposes a kind of for weld joint tracking
Vision sensing equipment mentality of designing, it is characterised in that the weld seam under different condition can be obtained by automatic switchover dim light optical filter
Image, obtained left-right deviation information are completed jointly with the left and right acquired in magnetic control arc sensor and vertical deviation information again
Soldering joint automatic tracking is realized in correction.Specifically include swing arm 5, oscillating motor 7 and dim light automatic switching device for optical filter 6, the pendulum
Dynamic motor 7 controls swing arm 5 to drive the swing of visual sensor 4 to coordinate with dim light automatic switching device for optical filter 6 and obtains different condition
Under weld image.Welding starts anterior optic sensor 4 and workpiece image to be welded is obtained under the conditions of dim light optical filter is not added with, and passes through
Image procossing obtains weld information and completes the identification of welding initial position and guiding and welding gun trajectory planning.And then vision is swung to pass
Sensor 4 be aligned welding gun, at this time sliding block 1 (22) be loaded onto light hole automatically, start obtain welding when left-right deviation information, then with magnetic
Weld joint tracking is realized in correction jointly for left and right and vertical deviation signal acquired in control arc sensor 2, when the welding gun for starting to obtain
, it is necessary to which swinging visual sensor 4 again obtains front weldment image, in order to avoid blow-out with rising again after the completion of path
Arc, improve automation tracking degree, visual sensor 4 from alignment torch swinging to sliding block 2 (29) in workpiece vertical process
The automatic light hole butt-welding fitting image that is loaded onto carries out continuous sampling, and accurate weld image and magnetic control electricity are obtained by image procossing
The deviation information that arc sensor 2 obtains accurately tracks jointly, completes Automation of Welding.
The present invention proposes a kind of vision sensing equipment mentality of designing for weld joint tracking, which can not only obtain weldering
The left-right deviation at seam center and molten bath center, realizes weld joint tracking, and can be by swinging visual sensor and switching dim light
Optical filter completes guiding and the autonomous seam tracking of weld seam initial position, takes full advantage of the letter that visual sensor can obtain
Breath, solving the problems, such as visual sensor currently used for weld joint tracking, there are function is single, versatility is low and very flexible.
Visual sensor is combined by the present invention with magnetic control arc sensor, it is proposed that a kind of double-sensing multi information accurate adjustment side
Method, makes full use of the different information acquired in different sensors to obtain more accurate weld seam deviation information, and accurate control performs
Mechanism completes bias adjustment.Visual sensor is by pre-processing acquired image, edge detection, boundary scan, curve
Fitting and etc. obtain welding gun movement locus and right-left error, magnetic control arc sensing, which passes through, believes acquired welding current
Left and right directions and the height deviation of directivity can be obtained at the same time after number filtering process.The left and right directions obtained jointly for two sensors is inclined
Poor information, compares magnetic control arc sensor and the left-right deviation size acquired in visual sensor, when less than set threshold value,
Arc deflection is adjusted by varying field power supply complete correction using the deviation information that visual sensor is drawn as bias adjustment amount
Fine tuning is carried out, when more than set threshold value, by the deviation that two sensors are drawn compared with the welding gun track for starting to draw
So as to be divided in portion weighting coefficient, then it is weighted fusion calculation and handles to obtain final left-right deviation regulated quantity.Solve
The information that single sensor is obtained can only reflect some aspects of welding process, it is difficult to meet real-time space weld joint tracking essence
The problem of degree is required with accurate mass control, improves multiple for the larger seam track of degree of crook and broken line, dog-ear etc.
The tracking accuracy and stability of miscellaneous weld seam.
In such scheme, weld width is also can obtain by being handled the welding image acquired in visual sensor
The information such as change and flex point, then adjusts electric arc amplitude of fluctuation and frequency in time by magnetic control arc sensor, improves weld seam matter
Amount.
A kind of dim light automatic switching device for optical filter 6, it is characterised in that by two sliding blocks equipped with dim light optical filter
Separate, coordinated signals are realized to it by driving motor 21 and electromagnet 26.Mainly include shell 12, for keeping off dust and electric arc
Common glass sheet 13, sliding block 1 (22), the sliding block 2 (29) of splashing, the sliding block 1 (22), sliding block 2 (29) move on slide 17,
The sliding block 1 (22) drives the rotate gear 19 mutually ratcheting with travelling gear 25 to rotate to slide by driving motor 21, described
The motion state of sliding block 2 (29) is together decided on by spring 34 and the electromagnet 26 on sliding block 1 (22).
The present invention dim light automatic switching device for optical filter propose a kind of mentality of designing that two sliding blocks are separated, compared to
Linkage adds a kind of situation for being not added with dim light optical filter to the integrated connection of other devices together, can realize more functions；Phase
Than in the space for saving device again in the presence of the device for being not added with dim light optical filter situation, avoiding the complexity heaviness of device, realizing
Most functions is completed with minimum space.
The driving motor 21, it is characterised in that use a kind of rotating control for the driving motor for automatically controlling start and stop
Circuit processed.Different from traditional starting, holding and halt circuit, the present invention controls the break-make of relay using optoelectronic switch, because
This eliminates the A.C. contactor being in parallel with rotating start button, if anti-dazzling screen 1 (11) without departing from optoelectronic switch 1 (9),
Motor is maintained for rotating forward.Start button is inverted at the same time to use with rotating forward start button SB2The opposite normally-closed contact of normally opened contact, both
Can guarantee that avoid forward and reverse occur at the same time realize " interlocking ", and can while sliding block 1 (22) resets sliding block 2 (29) in time
It is upper.In addition start button SB is inverted2Normally-closed contact is also with rotating forward limit switch SB3The opposite normally opened contact series connection of normally-closed contact,
Closed after sliding block 1 (22) is upper, until 26 dead electricity of electromagnet, sliding block 1 (22) is separated with sliding block 2 (29) just to be disconnected, can
Path is rotated forward when ensureing to rotate forward, when inverting path and disconnect, and can guarantee that reversion to disconnect, and is realized bilayer " interlocking ", is made device more
Securely and reliably.
The present invention devises a kind of positive and reverse rotation control circuit for the driving motor for automatically controlling start and stop, using optoelectronic switch control
The break-make of relay processed controls the rotating of driving motor and start and stop.Rotated when the anti-dazzling screen 1 (11) on oscillating motor 7 reaches
When arriving optoelectronic switch 1 (9) thereon, normally opened contact SB2Closure, normally-closed contact SB2Disconnect, driving motor 21 is rotated forward, indicated at the same time
Lamp 2 (15) is bright, and indicator light 1 (14) goes out.When sliding block 1 (22), i.e. anti-dazzling screen 3 (33) enters optoelectronic switch 3 (27) in place, normally closed to touch
Point SB3Disconnect, normally opened contact SB3Closure, driving motor 21 stalls at this time, while indicator light 3 (16) is bright.If oscillating motor 7 starts
Action, when anti-dazzling screen 1 (11) leaves optoelectronic switch 1 (9), normally opened contact SB2Disconnect, normally-closed contact SB2Closure, while indicator light 2
(15) go out.Driving motor 21 starts to invert, electromagnet 26 drive sliding block 2 (29) with the reset of sliding block 1 (22) and on
Position, is that anti-dazzling screen 2 (18) enters optoelectronic switch 4 (28), normally-closed contact SB when sliding block 1 (22) resets completely4Disconnect, driving motor
21 stallings, while indicator light 1 (14) is bright.
The sliding block electromagnet 26, it is characterised in that control the break-make of electromagnet to be total to by spring 34 and S/R latch
With the upper of control slide block 2 (29) is carried out with resetting, motion control of the motor for two sliding blocks is realized.Specifically use light
Electric switch 2 (10) controls the break-make of electromagnet 26 with optoelectronic switch 3 (27) by S/R latch.When anti-dazzling screen 3 (33) enters light
It is still 0 that S, which puts at end 1, R ends, during electric switch 3 (27), in S/R latch, and Q is converted to Q=1 at this time, and electromagnet 26 is powered, and shines at the same time
Diode D2Conducting, indicator light 3 (16) are bright.The anti-dazzling screen 1 (11) in rotation axis 1 (8) is driven to turn when oscillating motor 7 starts action
Move to optoelectronic switch 2 (10), it is that 0, Q is converted to Q=0 that 1, S ends are put at R ends at this time, and electromagnet power-off, sliding block 2 (29) is in spring 34
Under the action of reset, while indicator light 3 (16) goes out.
The present invention using spring 34 and S/R latch control the break-make of electromagnet 26 come the reset of control slide block 2 (29) with it is upper
Position, when sliding block 1 (22) is upper, electromagnet 26, which is powered, makes two sliding blocks tightly hold, and is next moved at the same time in guarantee sliding block 1,2
While ensure that above-mentioned normally opened contact SB3Closure, normally-closed contact SB3Disconnect, avoid and opened caused by loosening between sliding block 1,2
Close and loosen and cause the disorderly situation of motor work.Acting through a motor and can just control due to electromagnet 26 and spring 34
The movement of two sliding blocks, avoids the complex situations that two sliding blocks use the control of two motors, makes device simpler, control action is more
It is easy to implement.
In such scheme, the break-make of relay and electromagnet is controlled using optoelectronic switch, touch switch is avoided and deposits
Response speed is low, low precision, is easily damaged the shortcomings of short life, can accurately and quickly realize the switching of dim light optical filter.
In such scheme, dim light filtering apparatus shell is provided with indicator light 1 (14), indicator light 2 (15) and indicator light 3
(16), the operating state that cannot be visible to the human eye inside device can be reflected, whether energy real-time observation device works normally, for
The failure of appearance can reflect in time.
In such scheme, the dim light optical filter in dim light optical filter placing groove can need to replace at any time according to environment, can
Suitable for different welding occasions.
The beneficial effects of the invention are as follows the vision sensing equipment and magnetic control arc sensor to be used cooperatively, for complicated weld seam
Also can completely obtains welding process information, ensures the accuracy and reliability of input information.Using dim light optical filter certainly at the same time
Dynamic switching device, can automatically select required dim light optical filter, so as to obtain different condition according to the position of visual sensor
Under weld image, can not only realize that weld joint tracking can realize guiding and the autonomous seam tracking of weld seam initial position at the same time.
Brief description of the drawings
Fig. 1 is fundamental diagram of the present invention
Fig. 2 is dim light optical filtering automatic switching control equipment entirety installation diagram of the present invention
Fig. 3 is present invention slider schematic diagram
Fig. 4 is rotary electric machine positive and reverse rotation control circuit figure of the present invention
Fig. 5 controls relay on-off circuit diagram for optoelectronic switch of the present invention
Fig. 6 controls magnet switching circuit diagram for optoelectronic switch of the present invention by S/R latch
Specific implementation method：
Embodiment 1, as shown in Figure 1, the first step：Before welding starts, visual sensor 4 is being not added with the bar of dim light optical filter
Directly workpiece 3 is shot under part, is gone forward side by side by image procossing for the identification to weld seam and weld start position and guiding
Row leading portion carries out rough tracking apart from the trajectory planning of welding gun.
Second step：Swinging swing arm 5 makes visual sensor 4 be directed at welding gun, when the upper real-time preparation of sliding block 1 (22) obtains welding
Image.
3rd step：After starting welding, by the image collected to visual sensor carry out processing draw Weld pipe mill with
The deviation at molten bath center, then compared with the left-right deviation value that magnetic control arc sensor is drawn, when less than set threshold value
When, the deviation information drawn with visual sensor carries out fine tuning tracking, and when more than set threshold value, two sensors are drawn
Deviation, so as to be divided in portion weighting coefficient, is then weighted at fusion calculation compared with the welding gun track for starting to draw
Reason carries out fine tuning tracking.
4th step：The left side that magnetic control arc sensor gathers the information of short transverse in real time and step (1), (2), (3) are drawn
Right information completes soldering joint automatic tracking jointly.
5th step：, it is necessary to which swinging visual sensor 4 again obtains front after the completion of the welding gun path for starting to obtain
Weldment image, in order to avoid blow-out with re-strike, improve automation tracking degree, visual sensor from alignment torch swinging
Continuous sampling is carried out to light hole butt-welding fitting image is loaded onto automatically with sliding block 2 (29) in workpiece vertical process, at image
Reason obtains the deviation information that accurate weld image is obtained with magnetic control arc sensor 2 and accurately tracks jointly, and it is automatic to complete welding
Change.
Embodiment 2, such as Fig. 2-Fig. 5, the sliding block 1 (22), sliding block 2 (29) move on slide 17, the sliding block 1 (22)
The rotate gear 25 mutually ratcheting with travelling gear 19 is driven to rotate by driving motor 21 to slide, the fortune of the sliding block 2 (29)
Dynamic state is together decided on by spring 34 and the electromagnet 26 on sliding block 1 (22).
The driving motor 21 using optoelectronic switch control relay break-make come control the rotating of driving motor and
Start and stop, such as Fig. 4,5.The normally closed normally opened contact SB of its repeat circuit2Controlled by optoelectronic switch 1 (9), the shading on oscillating motor 7
When piece 1 (11) turns to optoelectronic switch 1 (9) thereon, normally opened contact SB2Closure, normally-closed contact SB2Disconnect, driving motor 21 is just
Turn, while LEDs ON in Fig. 5, indicator light 2 (15) are bright.The normally closed normally opened contact SB of relay3By optoelectronic switch 3 (27)
It is controlled to function as rotating forward limit switch, i.e. anti-dazzling screen 3 (33) enters optoelectronic switch 3 (27) in place when sliding block 1 (22), often
Closed contact SB3Disconnect, normally opened contact SB3Closure, driving motor 21 stalls at this time, while indicator light 3 (16) is bright.If oscillating motor 7
Start to act, when anti-dazzling screen 1 (11) leaves optoelectronic switch 1 (9), normally opened contact SB2Disconnect, normally-closed contact SB2Closure, transmission electricity
Machine 20 starts to invert, and indicator light 2 (15) goes out.Electromagnet 25 drive sliding block 2 (29) with the reset of sliding block 1 (22) and on
Position.It is that anti-dazzling screen 2 (18) enters optoelectronic switch 4 (28), normally-closed contact SB when sliding block 1 (22) resets completely4Disconnect, driving motor
21 stallings, indicator light 1 (14) is bright, wherein relay normally closed contact SB4Optoelectronic switch 4 (28) controls, spacing equivalent to reversion to open
Close.
Embodiment 3, as shown in fig. 6, the electromagnet 26, is passed through using optoelectronic switch 2 (10) and optoelectronic switch 3 (27)
S/R latch controls its break-make.When anti-dazzling screen 3 (33) enters optoelectronic switch 3 (27), S ends put 1, R ends and are still in S/R latch
0, at this time Q be converted to Q=1, electromagnet 26 is powered, absorption iron block 32 with movable slider 2 (29) associated movement, while in Fig. 6 shine
Diode D2Conducting, indicator light 3 (16) are bright.The anti-dazzling screen 1 (11) in rotation axis 1 (8) is driven to turn when oscillating motor 7 starts action
Move to optoelectronic switch 2 (10), it is that 0, Q is converted to Q=0 that 1, S ends are put at R ends at this time, and electromagnet power-off, sliding block 2 (29) is in spring 34
Under the action of reset, while indicator light 3 (16) goes out.The holding of S/R latch is taken full advantage of, set to 0 and puts 1 function.
Claims (4)
1. a kind of vision sensing equipment for weld joint tracking, it is characterised in that can be obtained by automatic switchover dim light optical filter
Weld image under different condition, obtained left-right deviation information again with the left and right acquired in magnetic control arc sensor and height
Deviation information completes correction and realizes soldering joint automatic tracking jointly, and it is automatic to specifically include swing arm 5, oscillating motor 7 and dim light optical filter
Switching device 6, the oscillating motor 7 control swing arm 5 to drive visual sensor 4 to swing and dim light automatic switching device for optical filter 6
Coordinate the weld image obtained under different condition, welding starts anterior optic sensor 4 and obtained under the conditions of dim light optical filter is not added with
Workpiece image to be welded, obtains weld information completion welding initial position identification and guiding by image procossing and welding gun track is advised
Draw, and then swing visual sensor 4 and be directed at welding gun, at this time sliding block 1（22）Automatically light hole is loaded onto, when starting to obtain welding
Left-right deviation information, then with the left and right acquired in magnetic control arc sensor 2 and vertical deviation signal jointly correction realize weld seam with
Track, it is necessary to which swinging visual sensor 4 again obtains front weldment image after the completion of the welding gun path for starting to obtain, is
Avoid blow-out and re-strike, improve automation tracking degree, hang down in visual sensor 4 from alignment torch swinging to workpiece
Sliding block 2 during straight（29）The automatic light hole butt-welding fitting image that is loaded onto carries out continuous sampling, is obtained by image procossing accurate
The deviation information that is obtained with magnetic control arc sensor 2 of weld image accurately track jointly, complete Automation of Welding.
2. a kind of dim light automatic switching device for optical filter 6 according to claim 1, it is characterised in that dim light will be housed and filtered
Two sliding blocks of mating plate separate, and coordinated signals are realized to it by driving motor 21 and electromagnet 26, mainly include shell 12, are used for
Keep off common glass sheet 13, sliding block 1 that dust and electric arc splash（22）, sliding block 2（29）, the sliding block 1（22）, sliding block 2（29）
Moved on slide 17, the sliding block 1（22）The rotate gear 19 turn mutually ratcheting with travelling gear 25 is driven by driving motor 21
Move and slide, the sliding block 2（29）Motion state by spring 34 and sliding block 1（22）On electromagnet 26 together decide on.
3. driving motor 21 according to claim 2, it is characterised in that use a kind of driving motor for automatically controlling start and stop
Positive and reverse rotation control circuit, different from traditional starting, holding and halt circuit, the present invention is using optoelectronic switch control relay
Break-make, therefore the A.C. contactor being in parallel with rotating start button is eliminated, as long as anti-dazzling screen 1（11）Without departing from photoelectricity
Switch 1（9）, motor is maintained for rotating forward, while inverts start button and use with rotating forward start button SB2Opposite normal of normally opened contact
Closed contact, not only can guarantee that and has avoided forward and reverse from occurring to realize " interlocking " at the same time, but also can be in sliding block 1（22）Sliding block while reset
2（29）It is upper in time, in addition invert start button SB2Normally-closed contact is also with rotating forward limit switch SB3Opposite normally opened of normally-closed contact
Contact series, sliding block 1（22）Closed after upper, until 26 dead electricity of electromagnet, sliding block 1（22）With sliding block 2（29）Separation is
Disconnect, that is, rotating forward path when can guarantee that rotating forward, when inverting path and disconnect, and can guarantee that reversion disconnects, and realizes bilayer " interlocking ", makes
Device is more safe and reliable.
4. electromagnet 26 according to claim 2, it is characterised in that electromagnet 26 is controlled by spring 33 and S/R latch
Break-make carry out control slide block 2 jointly（29）It is upper with reset, realize motion control of the motor for two sliding blocks, have
Body uses optoelectronic switch 2（10）With optoelectronic switch 3（27）The break-make of electromagnet 26 is controlled by S/R latch, when anti-dazzling screen 3
（33）Into optoelectronic switch 3（27）When, it is still 0 that 1, R ends are put at S ends in S/R latch, and Q is converted to Q=1 at this time, and electromagnet 26 is logical
Electricity, while light emitting diode D2Conducting, indicator light 3（16）It is bright, drive rotation axis 1 when oscillating motor 7 starts action（8）On screening
Mating plate 1（11）Turn to optoelectronic switch 2（10）, it is that 0, Q is converted to Q=0, electromagnet power-off, sliding block 2 that 1, S ends are put at R ends at this time
（29）Resetted under the action of spring 34, while indicator light 3（16）Go out.
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| CN201810013161.2A CN107999930B (en) | 2018-01-05 | 2018-01-05 | Control method for welding seam tracking |
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| CN201810013161.2A CN107999930B (en) | 2018-01-05 | 2018-01-05 | Control method for welding seam tracking |
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| CN112846551A (en) * | 2019-11-28 | 2021-05-28 | 湘潭大学 | Rotary ultrasonic-electric arc combined type welding seam tracking method |
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| CN109262114A (en) * | 2018-09-21 | 2019-01-25 | 湘潭大学 | A kind of self-positioning weld tracker for the weldering of boiler tube pipe |
| CN109262114B (en) * | 2018-09-21 | 2022-01-25 | 湘潭大学 | Self-positioning weld joint tracking device for boiler tube welding |
| CN112846551A (en) * | 2019-11-28 | 2021-05-28 | 湘潭大学 | Rotary ultrasonic-electric arc combined type welding seam tracking method |
| CN112846551B (en) * | 2019-11-28 | 2022-06-21 | 湘潭大学 | Rotary ultrasonic-electric arc combined type welding seam tracking method |
| CN111331225A (en) * | 2020-01-17 | 2020-06-26 | 湘潭大学 | Welding seam tracking method for welding inner circular tube of boiler |
| CN111331225B (en) * | 2020-01-17 | 2021-11-30 | 湘潭大学 | Welding seam tracking method for welding inner circular tube of boiler |
| CN112792435A (en) * | 2021-01-11 | 2021-05-14 | 湘潭大学 | V-shaped groove weld joint tracking method for controlling TIG welding arc based on longitudinal magnetic field |
| CN112792435B (en) * | 2021-01-11 | 2022-07-08 | 湘潭大学 | V-shaped groove weld joint tracking method for controlling TIG welding arc based on longitudinal magnetic field |
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