CN110883400A - Welding gun tracking swing method and system based on crawling machine - Google Patents
Welding gun tracking swing method and system based on crawling machine Download PDFInfo
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- CN110883400A CN110883400A CN201811051689.5A CN201811051689A CN110883400A CN 110883400 A CN110883400 A CN 110883400A CN 201811051689 A CN201811051689 A CN 201811051689A CN 110883400 A CN110883400 A CN 110883400A
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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
- B23K7/00—Cutting, scarfing, or desurfacing by applying flames
- B23K7/10—Auxiliary devices, e.g. for guiding or supporting the torch
- B23K7/102—Auxiliary devices, e.g. for guiding or supporting the torch for controlling the spacial relationship between the workpieces and the gas torch
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Abstract
The invention discloses a welding gun tracking swing method and a system based on a crawling machine, wherein the welding gun tracking swing method based on the crawling machine comprises the following steps: firstly, obtaining a characteristic picture of a welding seam, carrying out data processing on the characteristic picture of the welding seam to obtain the width of the welding seam, and automatically adjusting the swing amplitude of a welding gun tracking swing system and the swing speed of the welding gun tracking swing system according to the width of the welding seam. According to the invention, the welding seam width recognition and the welding gun swing mechanism are combined, parameters such as swing speed and swing amplitude of the welding gun tracking swing system are automatically adjusted through the welding seam width, the problems of poor welding and the like caused by uneven welding seam width are effectively avoided, the welding stability is improved, the adaptability to the welding seam is good, the welding quality is improved, the final welding effect is ensured, and the qualified rate is improved. The invention can automatically adjust the swing amplitude and the swing speed of the welding gun tracking swing system according to the width of the welding seam, greatly improves the adaptability to the change of the width of the welding seam and realizes the automation of the welding process.
Description
Technical Field
The invention relates to the technical field of welding gun tracking, in particular to a welding gun tracking swing method and system based on a crawling machine.
Background
At present, the oscillator of the welding robot artificially gives parameters such as oscillation speed, oscillation amplitude and the like of the oscillator at the beginning, and the whole welding seam adopts the same parameter, so that the adaptability of the equipment is insufficient, and the requirement of actual welding production cannot be met.
The mode of long straight plate processing groove on spot is flame cutting, and the groove butt joint gap that flame cut out is inhomogeneous, adopts a wiggler parameter can make welding stability poor, increases the welded degree of difficulty, and welding quality is poor, can influence final welding effect, leads to the low lower of the percent of pass. Manually adjusting the parameters of the oscillator during the welding process is unreliable, and therefore, a welding gun tracking oscillation method and system based on a crawling machine are urgently needed.
Disclosure of Invention
In view of the above disadvantages of the prior art, the present invention provides a welding gun tracking swing method and system based on a crawling machine, which is used to solve the problems of poor welding stability, high welding difficulty, poor welding quality and poor welding effect in the prior art.
To achieve the above and other related objects, the present invention provides a crawler-based welding gun tracking swing method, including: acquiring a characteristic picture of a welding seam; performing data processing on the characteristic picture of the welding seam to obtain the width of the welding seam; and automatically adjusting the swing amplitude of the welding gun tracking swing system and the swing speed of the welding gun tracking swing system according to the width of the welding seam.
As a preferred aspect of the present invention, the processing the data of the feature picture of the weld to obtain the weld width includes: calculating the characteristic picture of the welding seam in real time by adopting a template matching method to obtain a target area; extracting the central line of the laser structured light in the target area under the interference of arc light by using a gravity center method and a one-dimensional Kalman filtering method; and automatically acquiring the current welding seam midpoint value and the welding seam bottom width value by utilizing the algorithm of the laser image processing software.
As a preferred aspect of the present invention, the automatically adjusting the swing amplitude and the swing speed of the welding gun tracking swing system according to the width of the weld seam comprises: and obtaining the swing amplitude of the welding gun tracking swing system according to the width of the welding seam, wherein the swing amplitude of the welding gun tracking swing system is equal to the width of the welding seam.
As a preferable aspect of the present invention, the feature picture includes a welding groove candidate point feature, a welding reference plane feature point, and a welding tracking point.
To achieve the above object, the present invention also provides a crawler-based welding gun tracking swing system, comprising: the visual sensing module is used for acquiring a characteristic picture of the welding seam; the data processing module is used for carrying out data processing on the characteristic picture of the welding seam to obtain the width of the welding seam; and the swing control module is used for automatically adjusting the swing amplitude and swing speed of the welding gun tracking swing system according to the width of the welding seam.
As a preferable aspect of the present invention, the vision sensing module employs a CCD vision sensor.
As a preferred scheme of the present invention, the swing control module comprises a controller, a stepping motor, and a lead screw module; the signal input end of the controller is connected with the signal output end of the data processing module, the signal output end of the controller is connected with the signal input end of the lead screw module through the stepping motor, and the signal output end of the lead screw module is connected with the welding gun.
As a preferable aspect of the present invention, the feature picture includes a welding groove candidate point feature, a welding reference plane feature point, and a welding tracking point.
As described above, the welding gun tracking swing method and system based on the crawling machine according to the present invention have the following beneficial effects:
1. according to the invention, the welding seam width recognition and the welding gun swing mechanism are combined, parameters such as swing speed and swing amplitude of the welding gun tracking swing system are automatically adjusted through the welding seam width, the problems of poor welding and the like caused by uneven welding seam width are effectively avoided, the welding stability is improved, the adaptability to the welding seam is good, the welding quality is improved, the final welding effect is ensured, and the qualified rate is improved.
2. The invention can automatically adjust the swing amplitude and the swing speed of the welding gun tracking swing system according to the width of the welding seam, greatly improves the adaptability to the change of the width of the welding seam and realizes the automation of the welding process.
3. The invention can reduce the operation difficulty of users, and does not need to select proper swing parameters to carry out manual measurement on the width of the welding seam; the welding stability is improved, the welding difficulty is reduced, the complexity of preparation before welding is reduced, the efficiency can be greatly improved, and the difficulty of presetting the groove is reduced.
4. The method is simple and efficient, and has strong universality and practicability and wide application range.
Drawings
FIG. 1 shows a flow diagram of a method of tracking weaving for a crawler-based weld gun in accordance with the present invention.
Fig. 2 is a schematic flow chart illustrating the process of processing data of the characteristic picture of the weld joint to obtain the width of the weld joint according to the present invention.
Figure 3 shows a schematic of the construction of the crawler-based gun tracking weaving system of the present invention.
Fig. 4 is a schematic structural diagram of a swing control module according to the present invention.
Description of the element reference numerals
Welding gun tracking swing system based on crawling machine
10 visual sensing module
20 data processing module
30 swing control module
31 controller
32 stepping motor
33 lead screw module
S1 to S3
S21 to S23
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The embodiment provides a welding gun tracking swing method based on a crawling machine, and particularly, referring to fig. 1, the welding gun tracking swing method based on the crawling machine comprises the following steps:
s1, acquiring a characteristic picture of the welding seam;
s2, performing data processing on the characteristic picture of the welding seam to obtain the width of the welding seam;
and S3, automatically adjusting the swing amplitude of the welding gun tracking swing system and the swing speed of the welding gun tracking swing system according to the width of the welding seam.
Specifically, referring to fig. 2, in this embodiment, the data processing the characteristic picture of the weld joint to obtain the weld joint width includes:
calculating the characteristic picture of the welding seam in real time by adopting a template matching method to obtain a target area;
extracting the central line of the laser structured light in the target area under the interference of arc light by using a gravity center method and a one-dimensional Kalman filtering method; laser light is emitted from a laser, and is converged into a narrow-width light band called structured light after passing through a cylindrical lens.
And automatically acquiring the current welding seam midpoint value and the welding seam bottom width value by utilizing the algorithm of the laser image processing software.
Specifically, the template matching method is one of the important components of digital image processing in the prior art, and a processing method of spatially aligning two or more images acquired from the same scene by different sensors or the same sensor under different imaging conditions at different times is called a template matching method, or finding a corresponding pattern in another image according to a known pattern.
Specifically, the kalman filter method is an algorithm that performs optimal estimation on a system state by inputting and outputting observation data through a system using a linear system state equation. The optimal estimation can also be seen as a filtering process, since the observed data includes the effects of noise and interference in the system.
Specifically, in this embodiment, automatically adjusting the swing amplitude and the swing speed of the welding gun tracking swing system according to the width of the weld seam includes:
obtaining the swing amplitude of a welding gun tracking swing system according to the width of the welding seam, wherein the swing amplitude of the welding gun tracking swing system is equal to the width of the welding seam;
a linear relation K exists between the swing amplitude of the welding gun tracking swing system and the swing speed of the welding gun tracking swing system, and V = KS is obtained, wherein S represents the swing amplitude of the welding gun tracking swing system, and V represents the swing speed of the welding gun tracking swing system;
when S < D1, the staying time of the welding gun tracking swing system swinging to the leftmost side and the rightmost side of the welding seam is 0.1 second, and when D1< S < D2, the staying time of the welding gun tracking swing system swinging to the leftmost side and the rightmost side of the welding seam is 0.2 second, wherein D1 is the first width set by the welding seam, and D2 is the second width set by the welding seam, so that the automatic tracking of the welding gun tracking swing system is realized.
Specifically, in this embodiment, the feature picture includes, but is not limited to, a welding groove candidate point feature, a welding reference plane feature point, and a welding tracking point.
Referring to fig. 3, the present invention provides a crawler-based welding gun tracking pendulum system 1, similar in principle to the method embodiment, and in particular, the crawler-based welding gun tracking pendulum system 1 comprises: the visual sensing module 10 is used for acquiring a characteristic picture of a welding seam; the data processing module 20 is used for performing data processing on the characteristic picture of the welding seam to obtain the width of the welding seam; and the swing control module 30 is used for automatically adjusting the swing amplitude and swing speed of the welding gun tracking swing system according to the width of the welding seam.
The vision sensing module 10 adopts a CCD vision sensor, which can capture the characteristic picture of the weld seam, and the analysis is performed by the data processing module 20, which is a key way to obtain the width of the weld seam.
Specifically, referring to fig. 4, in the present embodiment, the swing control module 30 includes a controller 31, a stepping motor 32, and a lead screw module 33; the signal input end of the controller 31 is connected with the signal output end of the data processing module 20, the signal output end of the controller 31 is connected with the signal input end of the lead screw module 33 through the stepping motor 32, and the signal output end of the lead screw module 33 is connected with the welding gun.
Specifically, the controller 31 may be a PLC controller, and the controller 31 is configured to receive a signal from the data processing module 20, and output a control signal to the stepping motor 32.
Specifically, the stepping motor 32 is an open-loop control element that converts an electrical pulse signal into an angular displacement or a linear displacement, and drives the lead screw module 33 to move, thereby driving the welding gun to swing.
Further, the stepping motor 32 is coaxially connected with the lead screw module 33.
Specifically, in the embodiment, the crawler-based welding gun tracking swing system 1 specifically comprises the following working steps in the welding process:
in the welding process, the CCD vision sensor shoots a welding seam picture, the welding seam picture is transmitted to the data processing module 20 for image processing, specific welding seam characteristics are grabbed, the width of the welding seam is analyzed, and according to the fact that the swing amplitude of the welding gun tracking swing system is equal to the width of the welding seam, a linear relation K exists between the swing amplitude of the welding gun tracking swing system and the swing speed of the welding gun tracking swing system, V = KS is obtained, wherein S represents the swing amplitude of the welding gun tracking swing system, and V represents the swing speed of the welding gun tracking swing system; when S < D1, the stay time of the welding gun tracking swing system swinging to the leftmost side and the rightmost side of the welding seam is 0.1 second, when D1< S < D2, the stay time of the welding gun tracking swing system swinging to the leftmost side and the rightmost side of the welding seam is 0.2 second, so that a signal is sent to the controller 31, the controller 31 can drive the stepping motor 32 after analyzing the signal, and the stepping motor 32 is driven to swing due to the coaxial connection between the stepping motor 32 and the lead screw module 33.
In conclusion, the welding seam width recognition and welding gun swinging mechanism is combined, parameters such as swinging speed and swinging amplitude of the welding gun tracking swinging system are automatically adjusted through the welding seam width, the problems of poor welding and the like caused by uneven welding seam width are effectively solved, the welding stability is improved, the adaptability to the welding seam is good, the welding quality is improved, the final welding effect is ensured, and the qualified rate is improved.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (8)
1. A method of crawling weaving welder tracking swing, characterized in that the method comprises:
acquiring a characteristic picture of a welding seam;
performing data processing on the characteristic picture of the welding seam to obtain the width of the welding seam;
and automatically adjusting the swing amplitude of the welding gun tracking swing system and the swing speed of the welding gun tracking swing system according to the width of the welding seam.
2. The crawling machine-based weld gun tracking swing method according to claim 1, wherein: carrying out data processing on the characteristic picture of the welding seam to obtain the width of the welding seam, wherein the width of the welding seam comprises the following steps:
calculating the characteristic picture of the welding seam in real time by adopting a template matching method to obtain a target area;
extracting the central line of the laser structured light in the target area under the interference of arc light by using a gravity center method and a one-dimensional Kalman filtering method;
and automatically acquiring the current welding seam midpoint value and the welding seam bottom width value by utilizing the algorithm of the laser image processing software.
3. The crawling machine-based weld gun tracking swing method according to claim 2, wherein automatically adjusting swing amplitude and swing speed of a weld gun tracking swing system according to the weld width comprises:
and obtaining the swing amplitude of the welding gun tracking swing system according to the width of the welding seam, wherein the swing amplitude of the welding gun tracking swing system is equal to the width of the welding seam.
4. The crawling machine-based weld gun tracking weaving method according to any one of claims 1 to 3, wherein the feature picture comprises weld groove candidate point features, weld datum feature points, weld tracking points.
5. A crawler-based weld gun tracking swing system, comprising:
the visual sensing module (10) is used for acquiring a characteristic picture of the welding seam;
the data processing module (20) is used for carrying out data processing on the characteristic pictures of the welding seams to obtain the width of the welding seams;
and the swing control module (30) is used for automatically adjusting the swing amplitude and swing speed of the welding gun tracking swing system according to the width of the welding seam.
6. The crawling machine-based gun tracking swing system according to claim 5, wherein: the vision sensing module (10) adopts a CCD vision sensor.
7. The crawling machine-based gun tracking swing system according to claim 6, wherein: the swing control module (30) comprises a controller (31), a stepping motor (32) and a lead screw module (33); the signal input end of the controller (31) is connected with the signal output end of the data processing module (20), the signal output end of the controller (31) is connected with the signal input end of the lead screw module (33) through the stepping motor (32), and the signal output end of the lead screw module (33) is connected with the welding gun.
8. The crawling machine-based gun tracking swing system according to claim 7, wherein: the characteristic picture comprises welding groove candidate point characteristics, welding datum plane characteristic points and welding tracking points.
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| CN201811051689.5A CN110883400A (en) | 2018-09-10 | 2018-09-10 | Welding gun tracking swing method and system based on crawling machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114473133A (en) * | 2020-10-26 | 2022-05-13 | 北京配天技术有限公司 | Variable-width groove welding method, mobile terminal and storage medium |
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| CN105171198A (en) * | 2015-10-16 | 2015-12-23 | 河海大学常州校区 | Mechanical contact type weld joint tracker with self-adaptive swing amplitude |
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| JP2007185700A (en) * | 2006-01-16 | 2007-07-26 | Jfe Koken Corp | Welding control method and welding device |
| CN102029463A (en) * | 2010-10-29 | 2011-04-27 | 昆山工研院工业机器人研究所有限公司 | Device for controlling deflection correction of MIG/MAG backing weld joint of pipe based on visual sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114473133A (en) * | 2020-10-26 | 2022-05-13 | 北京配天技术有限公司 | Variable-width groove welding method, mobile terminal and storage medium |
| CN114473133B (en) * | 2020-10-26 | 2024-05-10 | 北京配天技术有限公司 | Welding method for variable-width groove, mobile terminal and storage medium |
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Address after: 230601 building C3, Zhongguancun Collaborative Innovation Industrial Park, intersection of Lanzhou road and Chongqing Road, Baohe Economic Development Zone, Hefei City, Anhui Province Applicant after: Anhui BoQing Automation Technology Co.,Ltd. Address before: 230601 3rd floor, Building 1, Robot Industry Base, Kaidi Science and Technology City, Hefei City, Anhui Province, at the junction of Tsinghua Road and Susong Road, Hefei Economic and Technological Development Zone Applicant before: ANHUI QIDI BOQING AUTOMATION TECHNOLOGY Co.,Ltd. |
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Application publication date: 20200317 |
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