CN110238563A - A kind of weld seam follower method based on electromagnetic sensor - Google Patents
A kind of weld seam follower method based on electromagnetic sensor Download PDFInfo
- Publication number
- CN110238563A CN110238563A CN201910323267.7A CN201910323267A CN110238563A CN 110238563 A CN110238563 A CN 110238563A CN 201910323267 A CN201910323267 A CN 201910323267A CN 110238563 A CN110238563 A CN 110238563A
- Authority
- CN
- China
- Prior art keywords
- electromagnetic sensor
- weld seam
- difference
- center
- method based
- 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.)
- Pending
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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
Landscapes
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
Abstract
The present invention discloses a kind of weld seam follower method based on electromagnetic sensor, which comprises the following steps: electromagnetic sensor is carried to above weld seam, then oscillating electromagnetic sensor makes it just move back and forth in welded joints；Multiple pulse signals in moving back and forth are received, and determine the reciprocating motion center of pulse signal center and electromagnetic sensor；It calculates pulse signal center and moves back and forth the difference of center；The reciprocal center dynamic compensation difference of Mobile electromagnetic sensor, stops movement after being zero until difference.For the present invention in this way, can effectively solve the problem that the problem of weld seam follows automatically under complex environment, this method has stronger adaptive capacity to environment, is more suitable for the operation in the environment such as liquid, dust.
Description
Technical field
The present invention relates to a kind of weld seam follower method based on electromagnetic sensor, belongs to technical field of nondestructive testing.
Background technique
In the industrial production, forming large scale structure by welding is very common method.Structure meeting during military service
By the effect of various load, it occur frequently that tired, it is therefore desirable to regularly carry out facility detection.Construction joint is on facility
Weak link, structure are destroyed usually since weld seam, therefore particularly important for the detection of weld seam.In order to realize the inspection of weld seam
It surveys, it is desirable to be able to can be realized the accurate positioning of weld seam and follow.
Currently, there are mainly two types of modes for the tracking of weld seam: manually tracking and robot automatically track.Manually with
Track relies primarily on the manual operations or the corresponding equipment of manual operation of people, by artificially judging that position while welding makes detection device always
The precision of detection is ensured in position while welding.It is a kind of automated detection method that robot, which automatically tracks, is led under normal conditions
It crosses camera and Visual identification technology realizes that robot automatically tracks weld seam.Although both modes can be in certain item
Realize weld seam detection under part, but the particular surroundings mankind of some complexity cannot be introduced into, complex environment also easily interferes machine
The accuracy of the accuracy of vision, weld seam detection is difficult to ensure.
Summary of the invention
The present invention mainly overcomes shortcoming in the prior art, proposes that a kind of weld seam based on electromagnetic sensor follows
Method.
The present invention solves technical solution provided by above-mentioned technical problem: a kind of weld seam based on electromagnetic sensor follows
Method, comprising the following steps:
Step S10, electromagnetic sensor is carried to above weld seam, then oscillating electromagnetic sensor make its in welded joints side into
Row moves back and forth；
Step S20, multiple pulse signals in moving back and forth are received, and determines pulse signal center and electromagnetic sensing
The reciprocation time center of device；
Step S30, the difference of pulse signal center and reciprocation time center is calculated；
Step S40, the reciprocal center dynamic compensation difference of Mobile electromagnetic sensor, stops movement after being zero until difference.
Further technical solution is the specific steps of the step S10 are as follows:
Step S101, electromagnetic sensor is moved to above weld seam by mobile device；
Step S102, excitation end makes electromagnetic sensor issue electromagnetic wave；
Step S103, fixed mobile device, oscillating electromagnetic sensor move back and forth, and variation is formed in motion process
Electromagnetic field, and pulse signal is formed at position while welding.
Further technical solution is the detailed process of the step S40 are as follows:
Step S401, the difference according to obtained in step S30 determines the relative position between weld seam and electromagnetic sensor；
Step S402, mobile device is moved depending on the relative position, and in moving process relative difference is gradually subtracted
It is small；
Step S403, after difference is zero, i.e., after relative position is zero；Stop mobile mobile device.
Further technical solution is that the electromagnetic sensor is current vortex sensor.
It is welded the invention has the following advantages that the present invention is changed using the alternating magnetic field of the mobile generation of electromagnetic sensor
The position of seam, while controlling driver by pre-set programs makes mobile device movement simultaneously dynamically compensate position deviation, passes electromagnetism
Sensor is always positioned above weld seam；In this way, can effectively solve the problem that the problem of weld seam follows automatically under complex environment, the party
Method has stronger adaptive capacity to environment, is more suitable for the operation in the environment such as liquid, dust.
Detailed description of the invention
Fig. 1 is electromagnetic sensor moving process schematic diagram；
Fig. 2 is the signal schematic representation received in electromagnetic sensor moving process；
Fig. 3 is the signal schematic representation received by the compensated electromagnetic sensor of dynamic position.
Specific embodiment
Further description is done to the present invention below with reference to embodiment and attached drawing.
A kind of weld seam follower method based on electromagnetic sensor of the invention, comprising the following steps:
Step S10, electromagnetic sensor is carried to above weld seam, then oscillating electromagnetic sensor make its in welded joints side into
Row moves back and forth；
Particularly: electromagnetic sensor is carried to above weld seam by mobile device, makes electromagnetic sensor by excitation module
Launch electromagnetic wave, so that electromagnetic sensor is generated the electromagnetic field of variation in welding material by oscillating electromagnetic sensor；Work as material
When expecting uniform, the variation tendency relative smooth of electromagnetic field, the variation tendency of electromagnetic field will change when there are weld seam
To form pulse signal；
Step S20, multiple pulse signals in moving back and forth are received, and determines pulse signal center and electromagnetic sensing
The reciprocation time center of device；
The detailed process of above-mentioned steps are as follows: the electromagnetic field given off from detected material is received by electromagnetic sensor, electricity
Magnetic Sensor movement once obtains a pulse signal, when electromagnetic sensor just moves back and forth in welded joints, obtains multiple electricity
Magnetic field impulse signal；
Step S30, then the electromagnetic wave received is handled by signal processing module, and calculates pulse center position
It sets and the difference t (as shown in Figure 2) relative to reciprocating movement time centre position；
Step S40, Mobile electromagnetic sensor dynamic compensation difference, stops movement after being zero until difference；
Step S401, the difference according to obtained in step S30 determines the relative position between weld seam and electromagnetic sensor；
Step S402, make mobile device movement and dynamic compensation depending on the relative position to control driver by pre-set programs
Position deviation, and in moving process relative position is gradually reduced；
Step S403, after difference is zero, i.e., after relative position is zero；Stop mobile mobile device, makes electromagnetic sensing
Device is always positioned above weld seam；Other weld seam sensors in mobile device can further detect weld seam.
The above is not intended to limit the present invention in any form, although the present invention takes off through the foregoing embodiment
Show, however, it is not intended to limit the invention, any person skilled in the art, is not departing from technical solution of the present invention range
It is interior, made when the technology contents using the disclosure above and change or be modified to the equivalent embodiments of equivalent variations a bit, but it is all not
Be detached from technical solution of the present invention content, according to the technical essence of the invention it is to the above embodiments it is any it is simple modification,
Equivalent variations and modification, all of which are still within the scope of the technical scheme of the invention.
Claims (4)
1. a kind of weld seam follower method based on electromagnetic sensor, which comprises the following steps:
Step S10, electromagnetic sensor is carried to above weld seam, then oscillating electromagnetic sensor carries out it just in welded joints past
Multiple movement；
Step S20, multiple pulse signals in moving back and forth are received, and determines pulse signal center and electromagnetic sensor
Reciprocation time center；
Step S30, the difference of pulse signal center and reciprocation time center is calculated；
Step S40, the reciprocal center dynamic compensation difference of Mobile electromagnetic sensor, stops movement after being zero until difference.
2. a kind of weld seam follower method based on electromagnetic sensor according to claim 1, which is characterized in that the step
The specific steps of S10 are as follows:
Step S101, electromagnetic sensor is moved to above weld seam by mobile device；
Step S102, excitation end makes electromagnetic sensor issue electromagnetic wave；
Step S103, fixed mobile device, oscillating electromagnetic sensor move back and forth, and the electromagnetism of variation is formed in motion process
, and pulse signal is formed at position while welding.
3. a kind of weld seam follower method based on electromagnetic sensor according to claim 2, which is characterized in that the step
The detailed process of S40 are as follows:
Step S401, the difference according to obtained in step S30 determines the relative position between weld seam and electromagnetic sensor；
Step S402, mobile device is moved depending on the relative position, and in moving process relative difference is gradually reduced；
Step S403, after difference is zero, i.e., after relative position is zero；Stop mobile mobile device.
4. a kind of weld seam follower method based on electromagnetic sensor according to claim 1, which is characterized in that the electromagnetism
Sensor is current vortex sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910323267.7A CN110238563A (en) | 2019-04-22 | 2019-04-22 | A kind of weld seam follower method based on electromagnetic sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910323267.7A CN110238563A (en) | 2019-04-22 | 2019-04-22 | A kind of weld seam follower method based on electromagnetic sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110238563A true CN110238563A (en) | 2019-09-17 |
Family
ID=67883416
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910323267.7A Pending CN110238563A (en) | 2019-04-22 | 2019-04-22 | A kind of weld seam follower method based on electromagnetic sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110238563A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005031336A1 (en) * | 2003-09-26 | 2005-04-07 | Fachhochschule Oldenburg/Ostfriesland/ Wilhelmshaven Fachbereich Technik | Method and device for controlling welding seam by means of a magnetic field |
| CN103203527A (en) * | 2013-04-24 | 2013-07-17 | 成都尹文特科技有限公司 | Magneto-electricity induction-type welding line tracking device |
| CN103447662A (en) * | 2013-08-20 | 2013-12-18 | 江苏科技大学 | Pulse electric arc sensing detection method for narrow gap welding line deviation |
| CN108247251A (en) * | 2018-01-03 | 2018-07-06 | 江苏理工学院 | Using the excitation coil weld seam path deviation correcting device and method of dual-Hall sensor |
| CN108890102A (en) * | 2018-09-04 | 2018-11-27 | 湘潭大学 | A kind of method that magnetic control plasma arc is swung |
| CN109570693A (en) * | 2019-01-09 | 2019-04-05 | 湘潭大学 | A kind of narrow gap magnetic control swing arc face of weld form self-adaptation control method |
-
2019
- 2019-04-22 CN CN201910323267.7A patent/CN110238563A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005031336A1 (en) * | 2003-09-26 | 2005-04-07 | Fachhochschule Oldenburg/Ostfriesland/ Wilhelmshaven Fachbereich Technik | Method and device for controlling welding seam by means of a magnetic field |
| CN103203527A (en) * | 2013-04-24 | 2013-07-17 | 成都尹文特科技有限公司 | Magneto-electricity induction-type welding line tracking device |
| CN103447662A (en) * | 2013-08-20 | 2013-12-18 | 江苏科技大学 | Pulse electric arc sensing detection method for narrow gap welding line deviation |
| CN108247251A (en) * | 2018-01-03 | 2018-07-06 | 江苏理工学院 | Using the excitation coil weld seam path deviation correcting device and method of dual-Hall sensor |
| CN108890102A (en) * | 2018-09-04 | 2018-11-27 | 湘潭大学 | A kind of method that magnetic control plasma arc is swung |
| CN109570693A (en) * | 2019-01-09 | 2019-04-05 | 湘潭大学 | A kind of narrow gap magnetic control swing arc face of weld form self-adaptation control method |
Non-Patent Citations (1)
| Title |
|---|
| 洪波等: "窄间隙CO2气体保护焊的磁控焊缝跟踪方法", 《焊接学报》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106624262B (en) | A kind of method of Intelligent welding pipe intersecting lines | |
| CN112059363B (en) | Unmanned wall climbing welding robot based on vision measurement and welding method thereof | |
| CN104985289B (en) | Laser sensor-based welding seam automatic tracking test device and test method thereof | |
| CN104384765B (en) | Based on the automatic soldering method of threedimensional model and machine vision | |
| CN111014879B (en) | Automatic welding method for corrugated plate of robot based on laser weld seam tracking | |
| Li et al. | Measurement and defect detection of the weld bead based on online vision inspection | |
| CN103231162A (en) | Device and method for visual detection of welding quality of robot | |
| CN105618951B (en) | Weld seam intelligent tracking system | |
| CN203791808U (en) | Intelligent welding robot based on machine vision | |
| CN105834557B (en) | The straight bead off-line tracking method of arc welding robot welding | |
| CN106891111B (en) | A kind of robot closed loop processing system for the welding of fin panel casing pin | |
| CN102284769A (en) | System and method for initial welding position identification of robot based on monocular vision sensing | |
| CN110375700B (en) | Large spiral steel pipe quality detection equipment and method | |
| CN211726359U (en) | Gluing equipment | |
| CN107322597A (en) | A kind of fillet weld seam track detection apparatus and method based on laser ranging | |
| CN105935829A (en) | Fillet weld automatically-tracking and automatically-adjusting device and intelligent welding robot thereof | |
| CN104646799A (en) | Laser tracker-based arc tracking testing system and l laser tracker-based arc tracking testing method | |
| CA2897718C (en) | Seam-welding method and system | |
| CN212329961U (en) | Unmanned wall welding robot that climbs based on vision measurement | |
| CN111843120A (en) | Robot weld joint tracking algorithm based on arc sensing and position feedforward | |
| CN206105156U (en) | Three -dimensional rectangular robot line laser welding seam automatic tracking system | |
| CN109304552A (en) | A kind of welding system and weld seam method for tracing | |
| CN207798693U (en) | A kind of face of weld defect intelligent detection device | |
| Wang et al. | Recognition of initial welding position based on structured-light for arc welding robot | |
| CN110238563A (en) | A kind of weld seam follower method based on electromagnetic sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190917 |