CN107999930B - Control method for welding seam tracking - Google Patents
Control method for welding seam tracking Download PDFInfo
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- CN107999930B CN107999930B CN201810013161.2A CN201810013161A CN107999930B CN 107999930 B CN107999930 B CN 107999930B CN 201810013161 A CN201810013161 A CN 201810013161A CN 107999930 B CN107999930 B CN 107999930B
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- welding
- sliding block
- light
- photoelectric switch
- electromagnet
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- 238000003466 welding Methods 0.000 title claims abstract description 93
- 238000000034 methods Methods 0.000 claims abstract description 7
- 230000003287 optical Effects 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 29
- 238000010891 electric arc Methods 0.000 claims description 4
- 239000011521 glasses Substances 0.000 claims description 3
- 239000011257 shell materials Substances 0.000 claims description 3
- 239000000428 dust Substances 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N iron Chemical compound data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0nMS4wJyBlbmNvZGluZz0naXNvLTg4NTktMSc/Pgo8c3ZnIHZlcnNpb249JzEuMScgYmFzZVByb2ZpbGU9J2Z1bGwnCiAgICAgICAgICAgICAgeG1sbnM9J2h0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnJwogICAgICAgICAgICAgICAgICAgICAgeG1sbnM6cmRraXQ9J2h0dHA6Ly93d3cucmRraXQub3JnL3htbCcKICAgICAgICAgICAgICAgICAgICAgIHhtbG5zOnhsaW5rPSdodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rJwogICAgICAgICAgICAgICAgICB4bWw6c3BhY2U9J3ByZXNlcnZlJwp3aWR0aD0nMzAwcHgnIGhlaWdodD0nMzAwcHgnIHZpZXdCb3g9JzAgMCAzMDAgMzAwJz4KPCEtLSBFTkQgT0YgSEVBREVSIC0tPgo8cmVjdCBzdHlsZT0nb3BhY2l0eToxLjA7ZmlsbDojRkZGRkZGO3N0cm9rZTpub25lJyB3aWR0aD0nMzAwJyBoZWlnaHQ9JzMwMCcgeD0nMCcgeT0nMCc+IDwvcmVjdD4KPHRleHQgZG9taW5hbnQtYmFzZWxpbmU9ImNlbnRyYWwiIHRleHQtYW5jaG9yPSJzdGFydCIgeD0nMTI1Ljk4MScgeT0nMTU2JyBzdHlsZT0nZm9udC1zaXplOjQwcHg7Zm9udC1zdHlsZTpub3JtYWw7Zm9udC13ZWlnaHQ6bm9ybWFsO2ZpbGwtb3BhY2l0eToxO3N0cm9rZTpub25lO2ZvbnQtZmFtaWx5OnNhbnMtc2VyaWY7ZmlsbDojM0I0MTQzJyA+PHRzcGFuPkZlPC90c3Bhbj48L3RleHQ+Cjwvc3ZnPgo= data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0nMS4wJyBlbmNvZGluZz0naXNvLTg4NTktMSc/Pgo8c3ZnIHZlcnNpb249JzEuMScgYmFzZVByb2ZpbGU9J2Z1bGwnCiAgICAgICAgICAgICAgeG1sbnM9J2h0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnJwogICAgICAgICAgICAgICAgICAgICAgeG1sbnM6cmRraXQ9J2h0dHA6Ly93d3cucmRraXQub3JnL3htbCcKICAgICAgICAgICAgICAgICAgICAgIHhtbG5zOnhsaW5rPSdodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rJwogICAgICAgICAgICAgICAgICB4bWw6c3BhY2U9J3ByZXNlcnZlJwp3aWR0aD0nODVweCcgaGVpZ2h0PSc4NXB4JyB2aWV3Qm94PScwIDAgODUgODUnPgo8IS0tIEVORCBPRiBIRUFERVIgLS0+CjxyZWN0IHN0eWxlPSdvcGFjaXR5OjEuMDtmaWxsOiNGRkZGRkY7c3Ryb2tlOm5vbmUnIHdpZHRoPSc4NScgaGVpZ2h0PSc4NScgeD0nMCcgeT0nMCc+IDwvcmVjdD4KPHRleHQgZG9taW5hbnQtYmFzZWxpbmU9ImNlbnRyYWwiIHRleHQtYW5jaG9yPSJzdGFydCIgeD0nMTguNzk5NicgeT0nNDcuNzk1NScgc3R5bGU9J2ZvbnQtc2l6ZTozOHB4O2ZvbnQtc3R5bGU6bm9ybWFsO2ZvbnQtd2VpZ2h0Om5vcm1hbDtmaWxsLW9wYWNpdHk6MTtzdHJva2U6bm9uZTtmb250LWZhbWlseTpzYW5zLXNlcmlmO2ZpbGw6IzNCNDE0MycgPjx0c3Bhbj5GZTwvdHNwYW4+PC90ZXh0Pgo8L3N2Zz4K [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 2
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- 210000004279 Orbit Anatomy 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000010410 layers Substances 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000003908 quality control methods Methods 0.000 description 1
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
- 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
Abstract
Description
The technical field is as follows:
the invention relates to a control method for welding seam tracking, belonging to the technical field of automatic welding sensing.
Background
The tracking precision and stability of welding seams with large bending degree and complex welding seams such as broken lines, folding angles and the like are low, information acquired by a single sensor can only reflect certain aspects of the welding process, complete information required by automatic welding is not fully acquired, the accuracy and reliability of input information are difficult to guarantee, and therefore automatic tracking of the welding seams cannot be accurately completed.
At present, a plurality of vision sensors are adopted in the field of automatic weld tracking, and basically only one set of light reduction filter is provided, so that only weld images under a single condition can be obtained, and the main function is to obtain the left and right deviation between the center of a weld and the center of a molten pool and realize weld tracking. The applications of guiding the initial position of the welding seam, planning the welding seam track and the like are deficient, so that the current visual sensor for tracking the welding seam has the problems of single function, low universality and poor flexibility.
The invention content is as follows:
in order to overcome the defects in the prior art, the invention provides a method for automatically acquiring different welding images, which is matched with a magnetic control arc sensor and can realize automatic switching of a light-reducing filter.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention provides a design idea of a control method of welding seam tracking, which is characterized in that welding seam images under different conditions can be obtained by automatically switching a light-reducing filter, the obtained left and right deviation information and left and right and high deviation information obtained by a magnetic control arc sensor are corrected together to realize automatic welding seam tracking, the method is mainly completed by matching a welding gun 1, a magnetic control arc sensor 2, a vision sensor 4, a swing arm 5, an automatic light-reducing filter switching device 6 and a swing motor 7, the swing motor 7 controls the swing arm 5 to drive the vision sensor 4 to swing and the automatic light-reducing filter switching device 6 to obtain the welding seam images under different conditions, the vision sensor 4 obtains the images of workpieces to be welded under the condition of not adding or subtracting the light filter before welding, the welding seam information is obtained through image processing to complete the identification and guidance of the welding initial position and the planning of the welding gun track, and then swinging the vision sensor 4 to align the welding gun, automatically loading the first sliding block 22 to a light-through hole at the moment, starting to acquire left and right deviation information during welding, correcting the deviation information together with left and right and high and low deviation signals acquired by the magnetic control arc sensor 2 to realize seam tracking, after the acquired welding gun track route is finished, swinging the vision sensor 4 again to acquire a front weldment image, in order to avoid arc extinction and re-arcing, improving the automatic tracking degree, automatically loading the second sliding block 27 to the light-through hole to continuously sample the weldment image in the process that the vision sensor 4 swings from aligning the welding gun to being vertical to the workpiece, and accurately tracking the acquired welding seam image together with the deviation information acquired by the magnetic control arc sensor 2 through image processing to finish welding automation.
The invention provides a design idea of a control method of welding seam tracking, which can not only obtain the left and right deviation of the welding seam center and the molten pool center to realize the welding seam tracking, but also can complete the guidance of the initial position of the welding seam and the planning of the welding seam track by swinging a visual sensor and switching a light reduction filter, fully utilizes the information which can be obtained by the visual sensor, and solves the problems of single function, low universality and poor flexibility of the current visual sensor for the welding seam tracking.
The invention combines a vision sensor and a magnetic control arc sensor, provides a double-sensor multi-information fine adjustment method, fully utilizes different information acquired by different sensors to obtain more accurate welding seam deviation information, and accurately controls an actuating mechanism to finish deviation adjustment. The vision sensor obtains the deviation of the motion track of the welding gun and the left and right directions by carrying out the steps of preprocessing, edge detection, edge scanning, curve fitting and the like on the obtained image, and the deviation of the left and right directions and the high and low directions can be simultaneously obtained by carrying out filtering processing on the obtained welding current signal by the magnetic control arc sensor. And comparing left and right direction deviation information obtained by the two sensors together, comparing the left and right deviation obtained by the magnetic control arc sensor and the vision sensor, when the left and right direction deviation information is smaller than a set threshold value, using the deviation information obtained by the vision sensor as a deviation regulating quantity, finishing deviation correction by changing the excitation power supply to regulate arc deflection, performing fine regulation, when the left and right direction deviation information is larger than the set threshold value, comparing the deviation obtained by the two sensors with the welding gun track obtained at the beginning so as to distribute weighting coefficients in proportion, and then performing weighting fusion calculation processing to obtain the final left and right deviation regulating quantity. The problem of the information that single sensor obtained can only reflect some aspects of welding process, be difficult to satisfy real-time space welding seam tracking accuracy and accurate quality control requirement is solved, the tracking accuracy and the stability to complicated welding seams such as the welding seam orbit that the degree of curvature is great and broken line, dog-ear have been improved.
In the scheme, the welding image acquired by the visual sensor is processed to obtain information such as width change and inflection point of the welding seam, and then the swing amplitude and frequency of the electric arc are adjusted in time by the magnetic control electric arc sensor, so that the quality of the welding seam is improved.
The automatic switching device 6 for the dimming filter is characterized in that two sliding blocks provided with the dimming filter are separated and are subjected to linkage control through a transmission motor 21 and an electromagnet 24. The glass slide mainly comprises a shell 12, a common glass sheet 13 for preventing dust and electric arc splashing, a first slide block 22 and a second slide block 27, wherein the first slide block 22 and the second slide block 27 move on a slide rail 17, the first slide block 22 drives a rotating gear 19 meshed with a transmission gear 23 to rotate through a transmission motor 21 to slide, and the movement state of the second slide block 27 is determined by a spring 30 and an electromagnet 24 on the first slide block 22.
The automatic switching device of the dimming filter disclosed by the invention provides a design idea of separating two sliding blocks, and compared with the condition that the dimming filter is not added or reduced in a linkage manner together with the integral connection of other devices, more functions can be realized; compared with a device without adding or subtracting the optical filter, the device saves the space of the device, avoids the complexity and the heaviness of the device and realizes the purpose of completing the most functions by using the minimum space.
The transmission motor 21 is characterized in that a forward and reverse rotation control circuit of the transmission motor capable of automatically controlling starting and stopping is adopted. Different from the traditional starting, keeping and stopping circuit, the invention adopts the photoelectric switch to control the on-off of the relay, thereby removing the AC contactor which is connected with the forward and reverse rotation starting button in parallel, and the motor keeps forward rotation as long as the first shading sheet 11 does not leave the first photoelectric switch 9. Simultaneous reverse rotation start button adoption and forward rotation start button SB2And the normally closed contacts with the opposite normally open contacts can ensure that the forward rotation and the reverse rotation are avoided from being simultaneously interlocked, and the second sliding block 27 can be timely positioned when the first sliding block 22 is reset. In addition, a reverse start button SB2Normally closed contact and forward rotation limit switch SB3Normally open contacts opposite to the normally closed contacts are connected in series, the first sliding block 22 is closed after being positioned on the upper position, and the first sliding block 22 is separated from the second sliding block 27 until the electromagnet 24 is powered off, so that the forward rotation path and the reverse rotation path are disconnected, double-layer interlocking is realized, and the device is safer and more reliable.
The invention designs a positive and negative rotation control circuit of a transmission motor capable of automatically controlling starting and stopping, which controls the positive and negative rotation and starting and stopping of the transmission motor by controlling the on-off of a relay through a photoelectric switch. When the light shielding sheet I11 on the swing motor 7 reaches the photoelectric switch I9 rotated thereon, the normally open contact SB2Closed, normally closed contact SB2And when the power is off, the transmission motor 21 rotates forwards, the second indicator light 15 is on, and the first indicator light 14 is off. When the slide block I22 is in place, the shading sheet III 29 enters the photoelectric switch III 25, and the normally closed contact SB3Open, normally open contact SB3Closed, at which time the drive motor 21 stalls and indicator light three 16 lights. If the swing motor 7 starts to operate and the shading sheet I11 leaves the photoelectric switch I9, the normally open contact SB2Open, normally closed contact SB2And closing the switch and simultaneously turning off the second indicator light 15. The transmission motor 21 starts to rotate reversely, the second slide block 27 is driven by the electromagnet 24 to move upwards along with the resetting of the first slide block 22, when the first slide block 22 is completely reset, namely the second shading sheet 18 enters the fourth photoelectric switch 26, the normally closed contact SB is formed4And is disconnected, the transmission motor 21 stops rotating, and the first indicator lamp 14 is lightened.
The slider electromagnet 24 is characterized in that the spring 30 and the SR latch control the on-off of the electromagnet to control the upper position and the reset of the second slider 27 together, so that the motion control of one motor to the two sliders is realized. Specifically, the on-off of the electromagnet 24 is controlled by the SR latch through the photoelectric switch II 10 and the photoelectric switch III 25. When the shading sheet three 29 enters the photoelectric switch three 25, the end S in the SR latch is set to 1, the end R is still 0, Q is converted into Q1, the electromagnet 24 is powered on, and the light emitting diode D is powered on2And the third indicator light 16 is on. When the swing motor 7 starts to operate to drive the first shading sheet 11 on the first rotating shaft 8 to rotate to the second photoelectric switch 10, at the moment, the end R is set to be 1, the end S is 0, Q is converted into Q which is 0, the electromagnet is powered off, the second sliding block 27 is reset under the action of the spring 30, and meanwhile, the third indicator light 16 is turned off.
The invention adopts the spring 30 and the SR latch to control the on-off of the electromagnet 24 to control the resetting and the upper position of the second sliding block 27, when the first sliding block 22 is positioned, the electromagnet 24 is electrified to lead the two sliding blocks to be tightly absorbed, thereby ensuring the simultaneous movement of the first sliding block and the second sliding block and simultaneously ensuring the normally open contact SB3Closed, normally closed contact SB3And the condition that the motor works disorderly due to the looseness of the switch caused by the looseness between the first sliding block and the second sliding block is avoided. Because the electromagnet 24 and the spring 30 can control the movement of the two sliding blocks through one motor, the complex situation that the two sliding blocks are controlled by the two motors is avoided, the device is simpler, and the control action is easier to realize.
In the scheme, the photoelectric switch is adopted to control the on-off of the relay and the electromagnet, so that the defects of low response speed, poor precision, easy damage, short service life and the like of a contact switch are overcome, and the switching of the light-reducing filter can be accurately and quickly realized.
In the scheme, the shell of the light-reducing and light-filtering device is provided with the first indicator lamp 14, the second indicator lamp 15 and the third indicator lamp 16, so that the action state of the interior of the device, which cannot be seen by human eyes, can be reflected, whether the device normally works or not can be observed in real time, and faults can be reflected in time.
In the above scheme, the light-reducing filter in the light-reducing filter placing groove can be replaced at any time according to environmental requirements, and the light-reducing filter placing groove is suitable for different welding occasions.
The visual sensing device has the advantages that the visual sensing device is matched with the magnetic control arc sensor for use, welding process information can be completely acquired for complex welding seams, and accuracy and reliability of input information are guaranteed. Meanwhile, the automatic dimming filter switching device is adopted, and the required dimming filter can be automatically selected according to the position of the visual sensor, so that weld images under different conditions can be obtained, and not only can weld tracking be realized, but also the guiding of the initial position of the weld and the weld track planning can be realized.
Drawings
FIG. 1 is a schematic diagram of the operation of the present invention
FIG. 2 is a schematic view of a swing motor according to the present invention
FIG. 3 is an overall assembly view of the automatic switching device for light-reducing and light-filtering of the present invention
FIG. 4 is a schematic view of a slider according to the present invention
FIG. 5 is a schematic view of a slider according to the present invention
FIG. 6 is a circuit diagram of the control of the forward and reverse rotation of the rotating motor according to the present invention
FIG. 7 is a circuit diagram of the photoelectric switch of the present invention for controlling the on-off of the relay
FIG. 8 is a circuit diagram of the photoelectric switch of the present invention controlling the on/off of the electromagnet through the SR latch
The specific implementation method comprises the following steps:
example 1, as shown in fig. 1, first step: before welding starts, the vision sensor 4 directly shoots the workpiece 3 without adding or subtracting an optical filter, and the image processing is used for identifying and guiding a welding seam and a welding starting position and carrying out rough tracking on the trajectory planning of a front section from a welding gun.
The second step is that: and swinging the swing arm 5 to enable the vision sensor 4 to be aligned with the welding gun, and preparing to acquire an image during welding on the first slide block 22 in real time.
The third step: after welding is started, processing images collected by the vision sensor to obtain a deviation value between the center of a welding seam and the center of a molten pool, comparing the deviation value with a left deviation value and a right deviation value obtained by the magnetic control arc sensor, performing fine tuning tracking by using deviation information obtained by the vision sensor when the deviation value is smaller than a set threshold value, comparing the deviation obtained by the two sensors with a welding gun track obtained at the beginning when the deviation value is larger than the set threshold value so as to distribute weighting coefficients in proportion, and performing weighting fusion calculation processing to perform fine tuning tracking.
The fourth step: and the magnetic control arc sensor collects information in the height direction in real time and completes automatic tracking of the welding seam together with the left and right information obtained in the first step, the second step and the third step.
The fifth step: when the welding gun track route which is obtained at the beginning is finished, the vision sensor 4 needs to be swung again to obtain the front weldment image, in order to avoid arc extinction and re-arcing, the automatic tracking degree is improved, the second sliding block 27 is automatically loaded to the light through hole to continuously sample the weldment image in the process that the vision sensor swings from the alignment welding gun to the position perpendicular to the workpiece, the accurate welding seam image is obtained through image processing, the deviation information obtained by the magnetic control arc sensor 2 is accurately tracked together, and welding automation is completed.
In embodiment 2, as shown in fig. 2-7, the first sliding block 22 and the second sliding block 27 move on the sliding rail 17, the first sliding block 22 slides by driving the rotating gear 23 engaged with the transmission gear 19 to rotate by the transmission motor 21, and the moving state of the second sliding block 27 is determined by the spring 30 and the electromagnet 24 on the first sliding block 22.
The transmission motor 21 controls the forward and reverse rotation and start and stop of the transmission motor by controlling the on-off of the relay through the photoelectric switch, as shown in fig. 6 and 7. Wherein the normally closed and normally open contact SB of the relay2Controlled by a photoelectric switch I9, when a shading sheet I11 on the swing motor 7 rotates to the photoelectric switch I9 thereon, a normally open contact SB is formed2Closed, normally closed contact SB2And the transmission motor 21 is disconnected, the light emitting diode in the figure 7 is connected, and the second indicator light 15 is on. Normally closed and normally open contact of relaySB3The function of the photoelectric switch III 25 is controlled to be equivalent to a forward rotation limit switch, when the slide block I22 is in place, the shading sheet III 29 enters the photoelectric switch III 25, and the normally closed contact SB is3Open, normally open contact SB3Closed, at which time the drive motor 21 stalls and indicator light three 16 lights. If the swing motor 7 starts to operate and the shading sheet I11 leaves the photoelectric switch I9, the normally open contact SB2Open, normally closed contact SB2When the switch is closed, the transmission motor 21 starts to rotate reversely, and the second indicator light 15 is turned off. The second slide block 27 is driven by the electromagnet 24 to move upwards along with the resetting of the first slide block 22. When the first slide block 22 is completely reset, namely the second shading sheet 18 enters the fourth photoelectric switch 26, the normally closed contact SB4When the power is off, the transmission motor 21 stops rotating, the first indicator light 14 is on, and the normally closed contact SB of the relay4The photoelectric switch four 26 is controlled, and is equivalent to a reverse limit switch.
In embodiment 3, as shown in fig. 8, the electromagnet 24 is controlled to be switched on and off by an SR latch through a second photoelectric switch 10 and a third photoelectric switch 25. When the shading sheet three 29 enters the photoelectric switch three 25, the end S in the SR latch is set to 1, the end R is still 0, Q is converted to Q1, the electromagnet 24 is energized, the adsorption iron block 28 drives the sliding block two 27 to move together, and the light emitting diode D in fig. 8 moves together2And the third indicator light 16 is on. When the swing motor 7 starts to operate to drive the first shading sheet 11 on the first rotating shaft 8 to rotate to the second photoelectric switch 10, at the moment, the end R is set to be 1, the end S is 0, Q is converted into Q which is 0, the electromagnet is powered off, the second sliding block 27 is reset under the action of the spring 30, and meanwhile, the third indicator light 16 is turned off, so that the functions of keeping, setting 0 and setting 1 of the SR latch are fully utilized.
Claims (4)
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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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| CN107999930B true CN107999930B (en) | 2020-01-14 |
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| CN108994488B (en) * | 2018-07-13 | 2020-07-24 | 上海拓璞数控科技股份有限公司 | Weld tracking method, system, device and readable storage medium |
| 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 |
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| CN101224520B (en) * | 2007-01-17 | 2012-06-06 | 湘潭大学 | Automatic tracking and controlling method for welding line by magnetic controlling arc sensor |
| CN101327545B (en) * | 2008-05-12 | 2012-02-01 | 湘潭大学 | Real time technique for tracking weld joints of gas metal arc welding by magnetic controlled electric arc sensor |
| CN102848052B (en) * | 2012-09-26 | 2015-03-18 | 湘潭大学 | Magnetic control rotating arc sensing real-time weld joint tracking system and method |
| CN103341685B (en) * | 2013-07-17 | 2016-08-17 | 湘潭大学 | A kind of automatic weld tracking control method based on magnetic control arc and laser-vision sensing and system |
| CN104588838B (en) * | 2015-02-07 | 2016-08-17 | 芜湖安普机器人产业技术研究院有限公司 | A kind of automatic tracing control of welding gun on-line amending system and control method thereof |
| CN106777876A (en) * | 2016-11-15 | 2017-05-31 | 湘潭大学 | A kind of rotating the arc weld seam tracking system information processing method for robot |
| CN106363279B (en) * | 2016-11-30 | 2019-01-18 | 湘潭大学 | A kind of arc sensing Weld Seam Tracking Control method and device based on frequency analysis |
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